One for the front, one for the rear. The rear would be the one to give problems, but not a common problem at all. A worn flex disc (also called guibo joint) usually causes harsher feel in shifts, but as I said, not common on E53's. The center support bearing on the other hand can cause what you described.

They're both on this page in realoem.

RealOEM.com * BMW E53 X5 4.4i Drive shaft, single components, 4-wheel

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X5 pics

RIP 4.6is.....

2003 4.6is