Wow, I'm surprised even one 3.0d made it into the US. It is definitely not as clean as my e70 40d. I start the 40d in the garage and can't even smell the exhaust, ever. It's astounding for a diesel. The e53 otoh does have a little smoke and quite a bit of odor. His name is Eeyore and he sleeps outside.
That said, Eeyore smokes much less than most French cars of the same age. The smell and smoke of my wife's yearly company cars (Citroen Berlingo 4x4 Dangel) did not go away until the very latest 2016 model, which meets Euro6 standards runs and AdBlue.
But I think I'm OT. Does admin squelch that kinda thing here? I guess I'll find out.