This tool and boot will allow you to not have to take off the CV joint to replace the commonly worn out rubber boots on CV. I have not tried it, but wanted to share and see if anyone thinks it would work on all the boots on the E53?

CV Boot
CV Boot Replacement - STRETCH Boots - YouTube

Steering rack boot
Rakboot - Steering Rack Boot Replacement - No wheel alignment required! - YouTube

Company site
Products That Work

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Kevin
2001 X5 3.0i
Phoenix, AZ