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For a 5,000 boat -- which is what I tow, go with the Invisihitch and the better programming module. Cost to purchase and install at a local 3rd party shop on Darryl's list will be about $1500. You'll want the active programming module so that every time you put the thing into reverse the the PDC recognizes you have a trailer back there and won't require you to either go crazy listening to it wail at you or turn it off.
Check my other posts as I did a write up on my x5 while towing and it has pics of the Invisihitch.
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