Here is a link to the rear door trim:
BMW Workshop Manuals > X Series E70 X5 4.8i (N62TU) OFFRD > 2 Repair Instructions > 51 Body Equipment (OFFRD) > 0 General > 2 RA Overview Of Rear Door

Here is a link to the front door trim:
BMW Workshop Manuals > X Series E70 X5 4.8i (N62TU) OFFRD > 2 Repair Instructions > 51 Body Equipment (OFFRD) > 0 General > 1 RA Overview Of Front Door

EDIT....

You made me do it.


I had to remove and replace "Trim on window frame, front" as my had a scratch, and it bothered me.

So as far as the back door goes here is what I had to do:

DISCLAIMER:
I did this all without removing door card. I do think it would be easier and safer if I had removed the door card first.

- open the back door
- open front door
- start removing outside door seal (the most outside #2," Seal for door seam"), be careful to watch how the trim is in set as not to rip it. Start on the door handle side, not the hinge side.
- roll the window down
- on back door only; remove the back window shade clips by pulling them (a little) down and towards the outside of the door
- from the inside of the door, start removing plastic trim #1 "Inner Cover on the door window frame", you will have to twist it off in the middles and then the left and right sides will come off (be careful, door card interface)
-from outside of the door start removing trim with velvet finish #13, "Rubber guide for door window glass"
- once #13 is out screws will be exposed that will allow you to remove trim #12, "Trim on window frame, front"
- slide #12 upwards

Install in reverse but start by installing #13 rubber into #12 trim and then slide it into the door.

Good luck.