Lifetime trans oil is the biggest disservice BMW did to 3rd and 4th owners of every zf equipped Bimmer. Sad.

Specific to your problem though... Start with a trans service doing the 3 tube seals, bridge seal, fluid, and filter/pan. If that doesn't work you will need a valve body rebuild. If that doesn't work... Well, I don't think you'd want to fix it's cost will easily outstrip the value of the vehicle.

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2005 X5 4.4i Build 04/05 Maintenance/Build Log
Nav, Pano, Sport (Purchased 06/14 w/ 109,000 miles) (Sold 8/15 w/121,000 miles)

2006 X5 4.8is Build 11/05 Maintenance/Build Log
Nav, DSP, Pano, Running Boards, OEM Tow Hitch, Cold Weather Pckg (Purchased 08/15 w/ 90,500 miles)

2010 X5 35d Build 02/10
Nav, HiFi, 6 DVD, Sports Pckg, Cold Weather Pckg, HUD, CAS, Running Boards, Leather Dash, PDC, Pano (Purchased 03/17 w/ 136,120 miles)