Aa long as tire wear is even it's not a problem. Inner edge tire wear is from loose joints allowing the wheels to toe out under braking and it's very dramatic. Mine wore though to the redneck wear bars (metal belts) in under two weeks.
E53 can run 30-40,000 miles. if the toe is straight.

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2011 E70 • N55 (me)
2012 E70 • N63 (wife)