I’m not trying to re-ignite this debate however; if you have a problem with the transmission and are willing to risk the potential outcome when changing fluid then it’s really a no brainer.

I too also have the ‘lurch’ problem although I suspect not as bad as others I’ve read about.
I’ve also learnt to drive around the problem for the most part which involves reducing the brake pedal pressure just as you’re coming to a stop. Prior to owning the X5, I used to brake like this anyway but have learnt to exaggerate this effect a little to combat the problem.
At this stage I’m not willing to risk a transmission rebuild to cure the ‘lurch’ but if the problem gets worse then I may be forced to reconsider.