e53 3.0d is slow.
e70 3.0d is a pretty good drive, I would say a night and day difference with the previous model, but a minimum lag may bother depending how you catch the turbo spooling while accelerating.
No such problem with the 3.0sd Twin Turbo (3.5d in America)

__________________
2010 X5 3.0sd
2013 740i M Sport