The main factors that will determine whether performance is affected are (1) change in unsprung weight (2) change in overall diameter (3) change in rolling resistance. You'll have to ensure that the new setup weighs the same, is the same height and the tires have no more aggressive or "sticky" tread than you have already to avoid a performance penalty. I haven't done this particular swap, but I am fairly confident you will have an increase in unsprung weight from the wheels and likely higher rolling resistance from the tires. I have a set of Range Rover wheels I use for part of the year, and they are 19" (255x55x19 Michelen 4x4 Synchrone tires). When I put them on, I can feel a noticeable difference - a little slower acceleration, a little heavier turn-in feel, and MPG suffers a little (1-2mpg). I have the 4.4 engine, so I don't really care about the slight decrease in power or mpg - but you may notice it a little more with the 3.0. I think for the most part you will always give up a little bit in terms of acceleration, deceleration, ride quality, and mpg but you will gain MUCH better appearance and probably noticeably better handling upgrading to 87's with good rubber.

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2001 X5 4.4i
2002 Honda S2000