You should probably figure on $2K a year, average - some years more/less than others. You're looking at a vehicle that was probably north of 60K new depending on packaging and options, and your maintenance costs will be based on that, not what it's current value is.
Each BMW model is different...what models do your friends drive? My E46 is considerably less expensive to maintain than my E70 or E90.
If you've owned BMW's in the past I don't think an N55 powered X5 is going to shock you when it comes to repairs.
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