Since you have a low compression reading on one of the cylinder, you basically have a misfire on that cylinders. If you have a scanner that can show you the misfire count I would look at that first. Shutting off the engine reset the misfire count so if the engine cylinder was shut down due to exceeding the allowable misfire count, the count will be 0 when you restart the engine again. This will allow the cylinder to work again until that misfire count is exceeded again.
The stumbling after restarting after a long drive would indicate that the injector(s) could be leaking and the cylinder(s) is/are flooded. I would try a can of techron injector cleaner. Instead of adding it to a full tank I would add it to a half tank or less so it is more concentrated. The other alternative is to bring it in and have an injectors cleaner perform on the engine.
If you have the ability to monitor short term and long term fuel trim that will halp out with the diagnosis.
Here's a Youtuber that was kind enough to upload a video on short term and long term fuel trim for a X5.
https://www.youtube.com/watch?v=ZHfy2QHfL38