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I would say you likely need a new driveshaft. The yolk on the transmission is broken and the yoke on the driveshaft itself looks damaged and may be weakened. Get a used one and have check the joint for rust/notchy movment, and free play, as it should none of those. I would think a cross kit would be available to replace a bad joint but I am not sure. BMW may not sell them but a driveshaft shop maybe could get one.
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