While the shocks and struts may still have some life left, at 85,000 you will certainly notice a significant improvement.

I tried Bilstein Shocks struts but went back to OE. The Bilstein setup was very skittish and too stiff. Required constant steering input just to stay in one lane.

FYI-with the mileage you have I would consider a complete front and rear rebuild. It's OK to start with struts but I would certainly have the front suspension checked before doing so to eliminate having to tear it down a second time.

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X5 4.6 2002 Black Sap, Black interior. 2013 X5M Melbourne Red, Bamboo interior
Dallas