David, I have the same problem on my 91 320i SE. I have changed plugs, leads, cap, arm, coil, idle control valve, airflow meter, fuel pump, fuel pressure regulator to cure the problem but it still exists! I have even changed the coolant temperature sensor but to no avail.
Mine gets worse when its really hot, when you can feel the engine go out of sync. Drives absolutely pukka though. I have found that richening the mixture helps the problem.
A BMW specialist told me that all 6 cylinder E30 models did it from the factory, but I seriously doubt it - I work for Ford as a development engineer and we certainly wouldn't release a car for production if it displayed the same symptoms!
The only thing I can think of is a sensor failing - maybe throttle switch/cam/crank sensors?
Let me know how you get on.