At that age I'd take a first guess that you have low gearbox/transmission fluid levels ... likely to be a leak .... unless you have very high miles or have led a hard life .... no easy guess, you need to get VIDA connected or get some professional help to diagnose if your not ok with doing it yourself.
Had any work done on it recently?
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BMW X3 Msport MHEV 2020MY & VW Beetle Design 1.2Tsi DSG 2014MY
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XC90 D5 SELux Geartronic 2009MY
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