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So you don't mention what type of transmission the car has. If it is a manual and depending on the mileage I'd replace the clutch and related components (slave cylinder, etc.).
I've not yet pulled the tranny on my car, but I've done a few other BMWs in the past. There's really no magic to it. I've done all the below except pulling the trans.
Basically its:
remove the exhaust
remove the under panels
remove the drive shaft
Remove the transmission
Replace the seal
The oil pan seems a PIA if you don't drop the front subframe. If you are using a lift, I'd vote for dropping the subframe to get the proper clearance to work.
If you are digging this far into the car, I'd suggest buying the Bentley service manual; it's a good reference for what you are doing and keeping the car in the future. The TIS is a nice resource, but it is written for factory trained techs so there's not a lot of detail.
Attached is the Guibo/driveshaft replacement TIS procedure.
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