Cold Shaking Start

[Tallen234]

My wife is on a trip with her 2006 E53 (3.0). Yesterday, she parked her car outside in temperatures under 30 degrees (yes, that is cold for AZ). She said the car was shaking pretty good for 5 min or so and the "Service Engine Soon" light came on. The X5 calmed down a good amount, but she thought she could "still feel something" on her drive to get coffee. She then didn't drive the car until this morning. She said everything felt fine and the light was not on.

So, from that limited information....can anyone guess what happened and (2) whether or not we should take to the dealer to check it out (it's not under warranty).

Thanks!