There's no magic in Toyota's reliability. They have been using largely the same drivetrains for decades. The recently retired MZ engine dates back to the early 90's and the current GR engine used in most Toyotas and Lexus vehicles dates back to 2002. If BMW kept offering vehicles with the same engines they did 15-20 years ago they would be out of business today as buyers of this class expect the latest and greatest in powerplants.
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