I think thats about normal, you have a 5 speed auto, in my 6 speed 70mph is 2k rpm, in my mercedes with a 5 speed auto, 70 mph is ~2600/2700, so I wouldn't worry about it

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2006 BMW X5 4.8is Lemans Blue/Beige/Dark Maple
-Nav, Comfort Seats, Heated Steering Wheel,
Rear Airbags, AUX Input
2009 BMW M3 Space Grey/Black/Carbon
-all options