z3 2.8L low-rpm misfire

Hello,  I have a 1999 Z3 coupe with a 2.8L.  When I first start the car,it runs perfectly.  As soon as it reaches operating temperature it has a low-rpm misfire (idle to 2500rpm).  It's quite noticeable in neutral revving it up, but is extreme when trying to drive the car.  Once you get above the 2500rpm,it smooths out a little, allowing you to apply more throttle.  The engine light will come on, but not always.  I scanned it once and it said the crank sensor was bad.  I replaced it and got no results.  Do you have any suggestions as to what to try next.   Thank you in advance.  

sounds like an 02 sensor. are you using a bmw scan tool?  

Just cunsult the mechanic once . he will let u know the reason for it.  
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Hello to all

I did not go through anything like the problems that some others have had. I just gave the dealer my written comments that I quoted above and told the service rep I would be available to take a test drive. The service technician did not need me to do that.
Here is the write up from the technician:
"Test drove car-When vehicle is in 5th gear customer's issue is observed (regardless of manual/sport setting. Issue occurs in 5th). Check fault memory. No relevant faults logged. Check trans fluid level/condition. Fluid slightly grey. But not excessively dark or contaminated. Check vehicle E. software status and contact ZF transmission rep. As per transmission rep, mechatroics/valve body is faulty and requires replacement along with use of new trans oil"
I don't know why there were no faults logged. It's odd how the car will record somethings and not others.
I do have to say that I would rather have had the solution be a software reprogram than this hardware issue since it would have been a lot cheaper but the hardware change does seem to have solved the problem for me.
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Thanks for sharing  
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