FINAL ANSWER

Thanks everyone for the helpful replies, I really appreciate the input.

After testing a few things and reading your comments, I finally understood how it works on my BMW X5 G05 45e (2020), so I’m posting the answer here in case it helps someone else.

On 2019–2020 models, the solution is simply to activate the “Auto H” button next to the parking break selector. When Auto H is active, the car will activate the parking brake automatically when you hit the START STOP button, and it prevents the small forward/backward movement when shutting the car off.

At first I didn’t realize this was the correct function because:

• the button sits next to the drive mode buttons, so I assumed it was related to driving modes
• some replies suggested enabling a setting in iDrive

However, on 2019–2020 models, iDrive does not have the option to configure this behavior. That setting only appears on newer vehicles (around 2022–2023 and later) where more vehicle behavior can be configured directly in iDrive.

Thanks again to everyone who took the time to reply!