Go ahead and pull it, it won't hurt you. Since you will also have the trans off its a good time to replace the rear main seal and the 2 coolant gaskets in there.
Invest in some good sized jack stands, 4 of them and a jack that can go pretty high if you don't already have those.
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02 e53 X5 3.0i Manual Trans
13 e70 X5 xDrive35i
04 Honda S2000
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