Ricky Bobby is correct, I had similar mileage (but in km) and inner tire wear. Found all the videos and then did the work. Rear ball joints (see the Bentley E39 video), the silver color arm with ball joint that wears and the sway bar ends. No noises, suspension is now tracking as it should. I have rear air springs and it was easier - as you can relieve the air pressure easier than compressing the spring (don't forget the pull the fuse). I also pro-actively replaced by air springs (VERY easy to do) at the same time. Do it all and sleep easier.

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2002 Euro X5 (E53) 3.0 diesel (M57)
5 speed manual with UUC short shifter.
Pre-xDrive NV125 transfer case (chain & gears).
Factory Xenon headlights, Spyder LED tail lights
Updated vortex crankcase breather.
Motorsport dead pedal, factory fire extinguisher, factory first aid kit, factory F&R mud flaps, factory PDC

Bilstein B6 shocks F&R
Redline oil has replaced "lifetime" fluids (F&R diff, manual transmission, transfer case and P/S).
Dimple magnetic drain plugs in all compartments.