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 took the 2006 X5 4.4 27,000 miles to the dealer to get fixed and they replaced the alternator (dragging shaft) and turned up the idle. This seemed to fix the problem but you could tell the idle was a lot higher. In traffic at slow speed the X would jerk at low speed below 5 mph. Took X back to dealer and then they replaced the levers. Now the X is very sluggish and shifts very fast just like this poster (daveycrocket) it does do better in S mode but then revs very high. Going around corners you can here the motor ping and now the sound of the exhaust is real airy (sounds like a lot of air is coming out). I guess I have to take it back to the dealer it is under CPO now so I guess I will have to pay the 100. I just don't have a lot of confidence in the dealer and would like to know what others have tried. I don't mean to hijack the thread I think I have the same problem.

Thanks David