2017 BMW X5 x35i- delayed gear shift ?

When I shift from park to drive OR from reverse to drive , there’s a noticeable delay before it clicks into gear. So much so it’s a problem if I back out of parking spot for instance & get someone coming up behind me…I have to wait until it clicks into drive before I can take off, leaving them sitting behind me looking at me like I’m stupid…. If I try to immediately hit the gas after shifting to drive .. I get a drivetrain malfunction error & it goes into like limp mode..only allowing me to go like 20 mph. If I then park, turn off & restart car the error goes away & it then drives fine!!? Or sometimes even hitting the gas as soon as I shift into drive …it just won’t go at all ..until it decides to finish switching into gear. Anyone’s have this before? Help!!