BMW makes fantastic cars
A friend of mine (ex Lotus, and MIRA) absolutely lambastes BMW for not setting their cars up correctly at the factory, even the M models.
Give him half a day, a monkey wrench and a steady supply of tea and he'll weave his magic.
Had I actually owned my last BMW and not leased it, I'd have had him sort it... because it was f'in' sketchy as, and BMW said it was "normal".