Penrite have recently released a new trans fluid called Penrite ATF-BMV which is supposedly specifically formulated for ZF transmissions...
"Prestige European cars use highly advanced transmissions that require a special lubricant.
To cover the 4 speed and 5 speed automatics made by ZF and Mercedes Benz, Penrite have released a new semi synthetic automatic transmission fluid, ATF BMV.
This product has been formulated to maintain the OEMs specified shift feel and importantly, transmission durabilty."
I hope that last line is correct!
Also.... "ATF BMV can also find use where DEXRONŽ-III fluids are specified and the end user wishes to uses a semi synthetic fluid..."