BMWs are supposed to have a firm ride. It stems from the handling requirements by BMW. I don't understand buying a BMW then trying to make it ride like it is floating down the road and compromising handling and safety. I suggest 4 inches of foam over the seats and staying with stock specs for shocks, struts and tires would be a better solution.

I agree that most of the suggestions that have been made could result in a softer ride but IMO not worth the resulting collateral damage. I have driven a Lexus crossover. Nice soft ride. It wasn't mine so I don't know how it handled. I would suggest finding an X5 as much like yours that is for sale and drive it to see if the ride is the same as yours.

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X5 4.6 2002 Black Sap, Black interior. 2013 X5M Melbourne Red, Bamboo interior
Dallas