I am having an idle misfire with my 3.0 X5. Originally my plugs were worn and changing cleared it. I would try a bottle of Techron (larger bottle) and good gas (Shell or Chevron) and see if that helps. Intake deposits or injector deposits can cause this type of problem. Vacuum leaks such as failed PCV hoses or separator or intake boot cracks along with valve cover gasket leak are all common failure points on M54 engine.
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