I got the CIP 18.1 update awhile back and it did reduce most of the lurching. I do however still feel the lurching once in a while.
Here is a link to an older post:
http://www.e90post.com/forums/showth...1484#post31484
I think the update cuts back the tranny torque lockup with the drive train so there is less load on the brakes when idling or coming to a stop. However, I could be wrong.