WARNING: This page is about a different car, the 2003 BMW X5, 2002 BMW X5, 2001 BMW X5, and 2000 BMW X5. However, it is still accessible from the selected car via links, so may be relevant.
Move steering wheel back and forth and check for zero clearance. See Fig 1.
There must be no clearance between tie rod arm (2) and tie rod joint (1). See Fig 1.