Almost $5K for a warranty seems like a lot. What does that cover? Everything or only major components like engine, transmission, etc? Engine and transmission should go 200K easily. I know some E53's are having transmission problems at 120K miles or so, but there are a lot that are going 250K miles or more. E70's have different transmission but you'd hope they'd go at least 200K with no problems. $5k on the chance that something may go wrong....not worth it.

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2007 X5 4.8i Space Gray
2001 X5 3.0 Titanium Silver