Here's a data point:

2001 E53 3.0i

Fuel pump failed at 173k miles. Luckily it was literally parked in front of my house when this happened.

I took the pump apart to see exactly what happened. The pump looked to be in great shape except that one of the brushes had worn down to exactly (of course) the point where it lost contact with the slip ring. Had this been another type of motor, I think replacing the brushes would have brought it almost back to new. But of course being immersed in fuel and fuel vapors makes that not such a good idea in this case.

It turned out to be pretty convenient for me to fix this, since it died in front of my house. But I'd recommend pre-emptively replacing at 150k if you're sure it is original. On my car, without having a complete set of service records, I was not sure it was original until I removed it.

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2001 X5 3.0i, 203k miles, AT, owned since 2014