In my E39 1998 528i, I adjusted the REAR tire camber down to 1 degree or so.

I think you can do the same for E53.

Here is the link for E39 rear camber that I did a while ago.
DIY: 1998 528i REAR Wheel Alignment - Bimmerfest - BMW Forums

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1998 E39 528i 5sp MT
2006 E53 X5 3.0 6sp MT