Lack of Power in "D" andalmost stalled??

[X5Dawg]

Have noticed in the past week or two a lack of power when the X is in "D" (not Sport) when trying to accelerate - just kind of sits there unless you really floor it. Once it is going though it seems to run fine. Stopped this morning to get coffee and when I put the X in reverse it started idling rough and almost stalled until I gave it a little gas and it settled down.

Any ideas here on what I am experiencing?? 2001 3.0 with 162K miles...