My experiences with three BMWs (although my X5 < 100k miles) have shown a few key issues to enjoyable ownership that won't bankrupt you.
1) Maintain the vehicle. Do NOT adapt the attitude of "if it ain't broke, don't fix it." Fluids, filters, belts, hoses, and other components must be changed to keep from costly repairs following inconvenient breakdowns later.
2) Do as much as you can yourself. Changing oil and filter, spark plugs, etc... is much easier on my BMWs than on other cars I've owned. It's somewhat opposite of what you'd expect, but BMWs are typically easier to work on, especially for "regular" maintenance items, than many other cars. Specifically, never even think about paying a dealership, or even an independent, to change your oil and filter. I don't know of an easier auto to do this on than a BMW, and you'll save at least 50%, while using better oil than most shops will, to boot.
The arguments against BMWs for their high repair costs are usually made by people who aren't tech savvy at all, have no desire to become even a little savvy, and take their machines to a dealer for everything.
Just my $.02, but I've seen it happen enough times to convince me.
MG