. . . you need to be deliberate with the shift lever as it is possible to miss a gear. . .
Affirmative! If you are firm when you shift and are still getting neutral or having difficulty changing gear there could be two common conditions involved.
1. Improper clutch adjustment. Do a basic clutch adjustment right now. Use the instructions in BMW's workshop manual downloadable from the Technical Directory here.
2. Dry transmission input/clutch hub splines cause difficulty shifting if the clutch adjustment is correct. They get lubed with a paste ≈50% molybdenum every 40K miles.
Clutch discs do wear out and can cause difficult shifting also. If you perform a basic adjustment by the book and still have difficulty shifting using a clutch cable that's in good condition, you'll need to inspect the clutch assembly, at which time the transmission input spines can be lubricated.