At 150K, I am guessing none of there were replaced under any warranties?
Most BMW warranties (recalls, really) run to 120, such as your FRM module.

There are several points that decide if it's worth it:
1. Sourcing used parts (used tail light from local junk yard vs. new)
2. Space for do-it-yourself vs. indy shop vs. dealer (just don't).
3. Time for do-it-yourself
4. Backup vehicle

I have all 4 above, so nothing really scares me, unless the engine completely blows up.

For example, I a couple weeks ago, decided to finally deal with turbo(s) that was leaking oil for a while now. Went for rebuild vs. new ($1,500 vs. 3,500). Doing the work myself ($0 vs. $X,000). You get the idea.

Yes, the project is delayed by a couple weeks now waiting for turbo replaceable parts that I (foolishly) expected to be readily available. But, with a very flexible work schedule, it is not a major inconvenience when it comes to school runs, etc, etc. This is not a case for all families, of course.

After this major project, I do expect to take the X5d past 200,000 miles, as everything else looks solid.

My math:
If I go for another family SUV, I am looking at $700/month payment for next 5 years, at minimum. Not to mention, driving experience is hard to match in any other SUV of this size and utility.