Yeah, had a very similar issue with my wifes X5 with all kinds of weird errors. Trans Failsafe, etc. This was 4 years ago and I replaced the battery and alternator and have been free of issues up until last weekend. Already replaced battery but still having issues. Next is the Alternator and I'm sure my problems will go away.

Also, our X5 has to be warmed up for a few minutes or the tranny slips bad. I too don't believe about the lifetime trans fluid. Gonna look into replacing the filter/fluid soon.

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2004 Gray/Gray 3.0 X5