I wouldn't throw 3k on a repair just because I have no problem..
If you don't mind excessive oil consumption and a car that smokes, feel free not to replace the seals.and get ready to change the cats down the road too..I'm sure the OP is in the same boat.
Mine just started doing it so it's not really that bad but bad enough that my friends have noticed the blue smoke at takeoff.
Most people sell their cars when they find out they have valve stem seals issues.

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2006 X5 4.8is LeMans Blue / creambeige interior
Prod.date: 2006-06-21