I've never had reliability issues with BMW ever. Perhaps I've been lucky but I've never had any issues that my free maintenance doesn't cover. $1k a year seems extremely excessive... the only out of pocket expensive I've had is when I got a flat tire and needed to replace one of the wheels which was ~300. The car before I spent $0 in 3 years. Don't keep the car past the warranty and you won't have to worry :P
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