The vital part is the correct mirrors on the truck! OEM mirrors are woefully inadequate unless they can extend wider than the trailer.
When approaching your driveway,(re;Rene's advice) get as close to the side of your driveway and street as possible, then as RRR said, pull forward more than you think you should, and once the 5er is turning get back under the hitch to prevent the 5er from over-reacting.
Ever watched a semi driver work? That's years of practice in use. My instructor once told me, "anyone can drive a rig down the road, where you make your money is in the dock area. (cleaned up language for this forum)
So find a vacant lot and practice, also practice staying calm at the same time.
IF you use a ground guide you both should
know and use the same hand signals. Ignore everyone else.