Crawl under the dash and put some spray lube (white lithium grease, etc) on the pivot points and spring mounting points on your squeaky pedal.

You have to be more careful about the spray lube on the steering column - the steering angle sensor is under the dash and has an optical pickup - if you coat it with grease, it won't work...

Are you sure the steering squeak is coming from inside the cabin? The double u-joint is prone to fail and sits just outside the firewall in the engine compartment.

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David.X5
2001 X5 4.4i Sport
SOLD! at 160k miles