Bavauto has a nice video but on the smaller 3 series car I believe. Using the TIS information msan provided above, I'm sure it can be done. I personally took the car to a shop to do it since I don't have much time anymore. I think there's also some instructions on this board or others from X5s who did the change. Took about 7 hours to change if I recall correctly.

Bavauto video
https://www.youtube.com/watch?v=o-BpUzAemyQ