The rough idle could be caused by current going to the wrong injector. You can hear injector firing if you have an auto stethoscope. It will be a clicking sound. That won't mean anything if the pulse is not at the correct time based on piston stroke. IMO the cause could also be an O2 sensor. Suggest you disconnect O2 sensors one at a time on problem bank and take a new readings.

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X5 4.6 2002 Black Sap, Black interior. 2013 X5M Melbourne Red, Bamboo interior
Dallas