We have two 35i power plants. More than fast enough to get you into trouble with the "supplementary highway tax" people with the fancy red and blue lights.
We noticed a big difference over the '01 3.0L.
Der Adler has the M Sport Package and when you shift into "Sport Mode" it really gets lively. "Comfort Mode" is fine for most things to be honest.

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2021 X5 xDrive40i
2015 X5 xDrive35i MSport
(Traded) 2013 X5 xDrive35i