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You have bad engine coils and or spark plugs. Same thing happened to my wifes X5 (has the twin turbo 4.4 liter motor) got same message and check engine light at 35,000 miles.
A basic scan tool will confirm fault codes. In our case it was cylinder 6 but replaced all of them at a cost of $1700 for all 8 coils and 8 new spark plugs.
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