I'm sure there's more, but here's the initial list off the top of my head...

2000 - X5 introduced with 4.4i model

2001 - 3.0i added to lineup.
- Widescreen nav added in April 2001
- CD-based MkIII nav system replaces MkII

2002 - 4.6is added to linup.
- automatic headlights

2003 - Adjustable ride height
- Aux Input
- DVD-based MkIV Nav system replaces MkIII

2004 - Facelift
- 6 speed auto and 6 speed manual tranny
- Valvetronic engine for 4.4i and 4.8is
- Panoramic roof added in spring 2004
- Sirius Radio

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