Some people have written they succeeded in freeing it up by spraying lube on it using an aerosol can of (lube of choice) and a long straw. Combined with some light tapping. There are rubber seals on the u-joints, which makes it hard to get grease into the actual joints. You will see when you look at it, but there are two u-joints. It is right next to the exhaust manifold, so don't spray grease everywhere.

FWIW, I tried that approach several times with no luck and just gave up and replaced it. You have to be careful not to get the steering wheel out of alignment if you DIY.

The u-joints are integrated into the lower part of the steering column. They are not field-replaceable. BMW Fairfax (online) has it for $175. ECS Tuning has it for $185. My local dealer wanted way more...

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