I use and like the Thule bike rack. It fits the standard BMW rails that run fore/aft. You need load bars, mounting feet, and the bike holder for the rails. Go to the Thule site and you can build the config you want for a BMW X5. I have the mounting feet that have a rubber pad, and it all attaches in 5 minutes.

I have three of the previous-model bike holders that have a trough for the wheels, and a swing-up arm with a jaw to hold the down tube. It is very easy to attach a bike, one thumbwheel to clamp and two velcro straps on the wheels. It clamps in a flat position when no bike is attached. I have just bought another holder for a road bike, where I will remove the front wheel and use a quick-release on the fork. The bike holder is lockable, and the entire rack is locked to the BMW rails, all with the same key.

I don't have any trouble loading it, but I am 6'4" and can lift any bike straight up there. YMMV. Also, the bikes don't move at all and no damage can happen, unless you drive under a low bridge. Lots of posts on bike racks and part numbers if you search here.

Jeff

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2007 X3 3.0si, 6 MT, Premium, White

Retired:
2008 535i, 6 MT, M Sport, Premium, Space Grey
2003 X5 3.0 Steptronic, Premium, Titanium Silver
2002 325xi 5 MT, Steel Grey
2004 Z4 3.0 Premium, Sport, SMG, Maldives Blue