Thanks HM for the info - installed the exhaust cam sensor today and all symptoms disappeared - low idle is gone and no stalling!!! And I never got an SES light!!

Before I put it in, the idle was getting so low that the tranny would not engage when trying to go in reverse up a hill. I actually stalled twice at the BMW dealer when putting it in reverse - quite embarrassing!!

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2001 X5 3.0i (PP/WP/AP) Traded at 213K miles
RARE White on Black - Why does everyone get Tan??
First E53 with 215s on XOutpost!!