PersonaNonGrata kindly moved the thread to E53 section for me...

It's starnge cause the car feels fine apart from this problem, no warning lights on the dash either...

Sounds stupid but It feels like presure is released when I come to a full stop under gentle braking, it does not do it all the time either...

I don't know the mechanics of what happens to an X5 when breaking but I should image the engine is still engaged when at a full stop in Drive, Could there be some Air in the brakes perhaps?