Well after debating over changing more parts or taking to BMW for diagnosis i decided to replace those coils. As i said i am no mechanic but i kept looking at the pictures i took and wondered if any of the techs in these forums would put them back in their car. Well no! they wouldnt so decided they needed replacing anyway. After installing 6 new coils the car is running like a top! Better than it ever has. So here is what i got from this experience:
With 104,000 miles and not knowing if theyve been changed, change the plugs and the fuel filter for better performance.$115 at this point you could see if the prob was fixed, if not....
While changing the plugs look at the coils if they dont look right as in my pics change em. $342
Now i did also change the cam shaft sensors, both of them after reading posts, i really thought they might be the problem due to same symptoms. They were not the problem but the ones i put in have a lifetime warranty and should not have to worry with them. So mark that as maintenance. $200

If this did not fix the run performance i would definately go get diagnostics done at BMW $130

Again i can only imagine what it would have cost if i took it to bmw in the first place!
Now back to my initial problem that was diagnosed at bmw involving a bad steering sensor and torn outside cv boots.