Brought my X5 in to BMW dealership today. They reprogrammed the ECU and everything works fine. Sorry about the lack of pictures but I do not know how to post them. I would definitely recommend this approach to anyone with some mechanical ability. Total cost of hitch, wiring harness and reprogamming was $680 vs $1200 from BMW. Also the hitch I used is totally hidden except for the receiver and did not require any cutting of the rear bumper. If someone can tell me how to post pictures I will gladly take a few and post them.