Home tranny flush
I did a flush on my '06 M5, at a little over 65K, and found that it made everything shift much better.
Like an oil change, the drain bolt for the transmission is located in an open place where it can drain fairly cleanly (may splash a bit against one of the neighboring chassis members initially). I also decided to replace the filter (about $20), after doing a series of three drain-and-fills (driving around the block between fills), each time reloading with 3 quarts of tranny fluid. At first, the outgoing fluid was dark, but later started coming out clean.
The vehicle runs like new! I plan on doing this every other oil change.
I do not believe that a tranny flush is needed, as I too have heard of horror stories of forcing fluid in the tranny by shops, for many types of cars in general.