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I have the camera alignment issue too; I've had a number of updates, up to the most recent as of 2 weeks ago, and it has not fixed it. It is going in tomorrow for a new camera.
iDrive 6 is much more stable in my experience (I also have a 2018 540). My 2021 M550 is in production now and the one thing I have qualms about is iDrive 7.
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