2002 BMW 530i, MT, purchased used in 2005 with 38,000 miles. Had my indy mechanic do complete fluid changes shortly after purchase. My indy won't stray from BMW rec fluids so BMW MTF-02 went in (I believe this is a Castrol product). I still didn't like the shift quality--very notchy, sometimes could not get it into 1st, occ could not get it into 3rd. Did another MT fluid change one year later, same fluid (since it was still under CPO warranty). Same poor shift quality in my opinion. After that I learned how to jack this car up and put in RP Synchromax early summer. Much improved shift quality, still somewhat notchy, and occasionally could not get into 1st but less frequent. Left this in a few months and just put in Amsoil MTF. Very nice shift quality, a speck notchy at times (but overall much improved). I mention all this only because this gets discussed on many BMW boards. Most everyone who writes in has changed their MTF to something other than the BMW stuff. My rank order: Amsoil MTF>RP Synchromax>>BMW MTF-02.