A d shaft from a 2.5 turbo will fit,the engine no doubt shorter 1 hole than the 6 cylinder you have, but it sits exactly at the same location if measured from the rear, the transmission is also a 722.4 which is also shared with the 95 E300D.

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2012 BMW X5 (Beef + Granite suspension model)

1995 E300D - The original humming machine (consumed by Flood 2017)
2000 E320 - The evolution (consumed by flood 2017)