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Not sure if the diesels extended accoustic panels under the trans but on the gassers you can see the trans pan if you take a peek under the car by the front doors.
I would not recommend driving it regularly in limp mode especially if it is perpetually in it now. Before I'd be driving and it would randomly pop up. But when it got more frequent I stopped using the car till fixed.
It running normally then suddenly going into limp mode does not seem to be a failing transmission IMO
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04 X5 3.0i auto
03 X5 4.6is
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