Wrestling with the same issue atm, one TRANS PROGRAM on an M50 with the modern gearbox, and one on an 88 535 w the ZF 4HP22EH. Change the fluid for the right type of syntehtic (on a 535 a few of us here in Oz have used Castrol Transmax Z with great results (it is the only synthetic allowed by ZF in these old boxes), but this is a different name elsewhere, search for posts by Bill R on the matter of fluids, he knows heaps and has contributed a lot onthis matter, inc some 4HP22 rebuild how tos which make it look easy enough to motivate one to get right under the car and into it with or without the right tools... no kidding...
Check the excellent page on BMWe34.net, it may lend you some comfort... http://www.bmwe34.net/E34main/Trouble/TransProgram.asp (and ideas)
Cheers, Nick