I replaced the complete assembly. Looked at the old dirt encrusted unit and put it in the barn. I saw some YT videos on opening and repairing the units but parts sourcing is a problem because of legal liability issues. Same with the steering assemble adjustment motors. Had the in/out fail and could only source a replacement motor by buying a complete used unit.

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