Does this V8 have DVanos like the N54? If so, check there as well. That was my vibrate issue. Then it was the vacuum leaks. Trifecta. Check the sensors with meter and test to see if they generate AC. Then they can be checked for resistance. If the module is good. Check the pump on the abs as well. Finally, if wheel bearing are bad, it throws off impulse to sensor. Just a thought.

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X5 3.0 AUTO -2001 - 238,000 miles