Do you notice any jerking on gear change? It can start quite subtle but would develop into a knock on clutch lift up on gear change.
I did mine on the 3 series, not too bad as mentioned. Plenty of online diy articles on it. Involves undoing one bolt with the car in gear, getting out, into neutral, spinning prop by hand, putting car back into gear etc. I would advise doing the prop Centre bearing at the same time.
I believe I did the gearbox linkage at the same time, you know, if you want to make a meal out of it!