I did a little research as mine had a problem code P0369 and needs to replace the exhaust sensor, there are two camshaft position sensors in 2002 X5 3.0i, one is exhaust the other is intake, for more information please refer these two urls
Need Advice - bimmerfest - BMW Forums
http://www.xoutpost.com/articles/x5/...placement.html
http://www.xoutpost.com/articles/x5/...-x5-3-0-a.html