Here's a little DIY I posted on the X3 BF forum. I assume the E53 setup would be similar. You DO need to be cognizant of the position of the nut to retain the original gear lash.
See post #124:
https://www.bimmerfest.com/forums/sh...94#post9968194
AM.
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E70 2010 3.0 M57 AT Titanium Silver with Black Leather
E53 2004 3.0 M54 AT Toledo Blue with Gray Leather
E83 2008 3.0 N52 AT Silver Gray Metallic with Black Vinyl
E46 1999 2.8 M52TU 5MT Black with Tan Leather 250K+ miles (Sold, but not forgotten)
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