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Try quickly dabbing the gas pedal (all the way down), immediately releasing it and stepping on it again to accelerate.
Not sure if it's just perception, but when I do it this way, I feel the car more responsive off the line.
The lag experienced is mostly due to fuel saving reasons, I've been told on normal D mode, the X5 takes off in 2nd gear, unless coerced.
It seems by doing the steps described above, the car tells the CPU to downshift quickly thus providing better acceleration, and increasing responsiveness.
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