Bump. Hey OP, did you ever find a solution to this problem? I'm experiencing the same problem with mt 2001 X5 3.0i (~150k miles).

I've had a lot done to the car lately and none of it has fixed vibration. (no vacuum leaks, new 02 sensors, fixed tranny mounts)

Hi I'm new on this site, I have a e53 3.0i 2001 and have exactly the same problem, only vibrates when in gear stationary, just read an earlier post; (vibration fixed update) he had play in front drive shaft, he changed it and no problem since. hope this helps i have yet to check mine.

I had a similar issue a few years ago. I used to always get fuel at the station by my house and I always put premium in but I had the shaking, but usually on start up. I took it to the dealer and they told me to make sure I was using the proper grade fuel. I told them I was and they said to try switching stations/brands. So I switched to Shell and have never had an issue since.