I have done a little bit of offroading in my X5 (see avatar hehe), and I would suggest coming up to the curb at a 45 degree angle with your steering wheel straight. Then when you get right up to the curb, crank the wheel 45 degrees in the opposite direction so that the tire is basically at 90 degrees with the curb. I would put in in M-1 since you don't have the extra torque of the 4.4 in which you could use M-2. Turn the DSC off, and "double foot" it - meaning press the brake fairly hard with your left foot, while feathering the accelerator with your right foot.
Coming at it with this angle will minimize the harshness of the suspension and will offer you good steady traction. Also, double footing it will keep the X from sliding back down if you don't gas it enough. I've used this method for some pretty crazy stuff in the X5. At one point, I had the X teetering on the front passenger tire and driver rear tire with the other two dangling off the ground by about 20". Although I would probably not put it through the tests I did again, I was surprised that it could make it through the stuff I put it through. Here's the only pics I have right now of one trip, but I have some more intense ones on my camera:
http://www.xoutpost.com/x5-e53-forum/...e+rover+wheels