On the rear, you may need to use the output shafts and or CVs from the donor car, or replacements that match it. The output shafts can differ across engine/diff combinations on splined diameter and output bolt pattern.

Also, keep in mind 3.0i auto and manual trans outputs AND CVs are different, though the outputs physically seat in the other one's diff, the bolt patterns are off by ~4mm. So if you want to get new CVs or outputs, you need to make sure they bolt up.

Just research that. This can be difficult to ascertain, even with RealOEM.

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2001 E53 3.0 5pd