Many MKIV nav computers have difficulty reading DVD copies, but they are perfectly fine with original disks. If yours works with an original but not with a copy, then you likely have one of "those" MKIV nav computers. You will most likely need to buy an original map disk for your E53.

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2000 E38 750iL Highline Edition, Upgraded with the lastest 2006 X5 Electronics
MKIV Navigation, 16:9 Display, Bluetooth, TV/Video with Backup Camera, Sirius, and Aux Input