I'd be interested to see a picture of the timing marks on the cam shafts. I din't find any. There is a timing mark on the exhaust cam sprocket, however. But none on the intake cam sprocket for the VANOS engine.
I did not use a special tool either for the crank lock or the cam lock at No. 1 piston TDC. A 1/4" diameter drift works very well locking the flywheel to the engine block. The hole is under the starter capped by a piece of rubber. As for the camshaft the end of which is square. They should be in the horizontal position in line with the very vague Bentley description that the first cam lobes face each other ar 10 o'clock and 2 o'clock.
'01 540it, 6/01
'03 325i 5 speed, 9/02
'10 535ix. 9/09
'10 mini 6 speed
'15 mini countryman 6 speed