There is not going to be an oem solution that will be able to provide you what you are looking for. If you have the factory nav system, you can get BT, and Ipod and satellite control, but the operation is clunky at best. I gutted the system in my E39 (same systems as the E53) with an entire alpine touch screen system, and its great, but it was a pita, and I work in the car audio field. When I got my E53 I told myself that im not going to do the same. You dont have DSP so it makes it a bit easier, you dont have to replace the amp and such. I would look into the kenwood excelon peices, or the alpine peices. The pioneers are ok as well. Remember to find something that will allow you to retain your steering wheel controls. Nothing is going to look as factory as oem, the Dynavins and stuff look close, but IMO they are crap. If you check out bimmerforums under the E39 section there is a TON of info on the units both good and bad, you could start your reading there.