For Madwelschman, the most likely problem (software can help) is an air leak in one of the struts. Given the age of the car, it’s likely “time” (been there myself). Replace them in pairs, as the other corner is just as old. Arnott suspension exchange units are an economical way to fix this.

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2002 Euro X5 (E53) 3.0 diesel (M57)
5 speed manual with UUC short shifter.
Pre-xDrive NV125 transfer case (chain & gears).
Factory Xenon headlights, Spyder LED tail lights
Updated vortex crankcase breather.
Motorsport dead pedal, factory fire extinguisher, factory first aid kit, factory F&R mud flaps, factory PDC

Bilstein B6 shocks F&R
Redline oil has replaced "lifetime" fluids (F&R diff, manual transmission, transfer case and P/S).
Dimple magnetic drain plugs in all compartments.