Front drive shafts should be the same on all E53's except the very early pre 4/2000 versions. So I don't see why that wouldn't fit. Interesting to know as I always thought BMW doesn't offer these joints separately.

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E39 530dA -02 M-Sport Messing metallic
E53 X5 3.0dA -06 Sport Stratus grey
E70 X5 40d -12 M-Sport Space grey