I also own a 2004 x5 3.0i. My rear tires camber inwards just as you describe. In fact, most of the x5's I see on the road have the same setup.
On OEM 17's, my tire wear was normal. I switched out to 22" wheels and tires, thats when I had premature wear on the inner sections of my rear tires. I had the car aligned, problem has been remedied. There will always be some degree of rear camber on the car unless you have it adjusted...which wont make the car as enjoyable to drive .
I would suggest an alignment in your case. The problem might not so much be the inward angle or camber that the tires appear to have. It could possibly be that the toe adjustments are out of spec just from normal wear and tear.
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