Rough idle

[Mahmoud 85]

Hi guys
i have e71 2012 6cyl , the issues with this car that it runs smooth on high speeds and rpms but its lazy on low rpms with hesitation its like i need to press more gas to make run like the other car beside , the other issue which i can feel its realted to previous one is the rough idle , the car has annoying vibration the moment before my rpm settle down at 600 , so i bought an obd scanner and checked the car and obvious 2 things i have is the o2 sensor and the map sensor which give me a faulty readings , my upstream o2 sensor stucks at rich side all the time with voltage of 1.4 at idle when i drive it goes between 1.2 to 1.4 no more no less , my map sensor it show equal bro pressure when the engine is off like 13.somthing but when i start the engine or idle it goes down to like 12.something only and flactuate between these two numbers , so i bought walker map sensor and i replaced it , the problem with that sensor it stucks on 3.4 psi the whole time whatever engine is off , driving or idling .
All this and yet i have no codes or CEL , but like every 2 to 3 months i have p0240 code comes and goes after i delete it .
if someone experianced this and can help since all the dealers here they dont know what live data means and they only works on CEL only .
one thing i forgot to mention according to my obd scanner the pressure of low fuel pump is like 100 psi and according to what i know its high but i dont know if this will cause previous issues .

[328 Power 04]

It would help to identify the vehicle exactly. There were a few 6 cyl, with different fuels too.

[Mahmoud 85]

Bmw x6 e71 2012 35xi with 150k and stock