Until I noticed you have XDrive, I was going to strongly recommend the M2/M3/M4 LCA swap with the kit from Turner Motorsports. Did an excellent job on just exactly what you are mentioning. I almost just think about being in the next lane, and the car heads in that direction. My SA at the dealer who did the install was concerened that this mod would make the steering too "darty", but far from it...it's outstanding. I am fairly certain they don't have this for XDrive, but nothing to lose by calling them.
https://www.turnermotorsport.com/