Had same problem with my 2016 XDrive 20D , the car is 4 years old now and out of warranty, took it to my local BMW dealer in Sydney yesterday and they confirmed it was the EGR valve, BMW has done a goodwill and supplied the parts for free , I did pay the diagnostic and labour fee which was AU$360, the car was ready this morning , all in all good service and result, the car drives like new again.
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