Just wanted to share something with everyone.
I was experiencing a lot of vibrations at idle in gear, stopped with
foot on the brake. This was occuring in both reverse and
drive.

I previously replaced both engine mounts and this did not resolve the problem.

This weekend I replaced the right front CV Shaft in my 2003 X5 3.0l and
now the vibration is non existent and the car drives as smooth as when it was new.