Does your car have a black plastic cover over the vacuum valves on the top center of your valve cover? If so, I'd say look at the 2 vacuum valves under the cover. The hoses can split there, the valve flipper levers can break. The levers metered vacuum to the trans. If not, then I would remove the line to the modulator and remove the T shaped valve in the modulator and rotate it one notch counter clockwise. If worse then 2 notches the other way.
If it isn’t a vacuum problem, it can be two things: Worn transmission or weak springs on the valve body. For the last problem there is a kit called “Superior Kit K722A-D” and fixes “Harsh 1-2 shift Soft or flare 2-3 shifts Slip or flare 2-3 (cold) Soft or flare 3-4 shifts Stacked 2-3 shifts”. Maybe you can try it, there is some information about the installation.
Just do a little research about it before buying, I am not sure if the kit was designed for the 240D.
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