I had the shudder issue and they replaced the fluid. About a year later I needed to replace the transfer case which cost about $8,500.
Reviews of OEM BMW transfer case
16 votes
Look out for the transfer case. I have a '22 45e and it's an amazing car but for a while the car would sporadically shudder at low speeds, especially when turning (like in a parking lot). Best way to replicate this is to have the car facing downward on an incline and then slowly backup. If you sense any shudder (feeling is most prominent through the steering wheel), then the transfer case needs attention.
I have a 2020 x5 in the same spec. Bought new march 2020 and still driving it today. 141k miles now. Only 2 major issues I had were transfer case malfunction which I was luckily able to fix* with new fluids a recal and new tires.
The gas mileage sucks and you need a warranty because the transfer case will fail and cost more than an exclusionary warranty
VTG code is for your transfer case which would throw the 4x4 light.
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