[BRLLC]

As long as both are m54 engines then they should be totally interchangable, the only external difference is the size of the throttle body so you need to use the appropriate throttle body boot, ie if you are putting a 3.0 in a 2.5 liter you need the throttle boot from the 3 liter otherwise it should be a direct bolt in. One side note, if you are using a 3.0 from a x-5 you will need swap oil pans and motor mount brackets with yours, bigger in the x5. Also the 2004 2.5 will fit your 2002 as well those engines are the same from 2001 to the e90.

hope this helps