Great advice all around. But I replaced my O2 Sensors at 160K and it fixed the problem perfectly. BTW, how often do you change the oil/filter in this X? Have you already done the CCV replacement? Did you do the DVanos yet? There is much more fun to come. BTW, when the DISA goes, buy the rebuild kit. As for Cats I have original at 221K miles, but I do rigirous maintance and have been pretty lucky so far.

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X5 3.0 AUTO -2001 - 238,000 miles