I've been reading for hours trying to find others with similar problems.

My 3.0L X5, 2001, will hesitate or just stall from a standing start after
it is warmed up. Only happens once in 20/30 times. Many times it
just hesitates, coughs, then goes.

I've done much of the recommended actions, cleaning of Idler control valve,
replaced torn rubber boot to throttle body, replaced DISA valve (it was shot and really causing rough running), replaced entire oil separator assembly (really shot, including bottom hose entirely rotted off), re did most vacuum lines, replaced fuel filter (at 202,000 miles!), etc.

Any ideas?? I've heard stuff about cam position sensor and reflashing software...........