I've owned nine BMW, 3 Audi's and just about everything else a driving enthusiast would want in the price range of less than $60k. This car is by far the best I have ever had. Let me explain why. I'll start with the M5. Power, grace and superior handling. The E55 tops the M5 in every category except handling. The trade-off is comfort. The E55 changes gears quicker than the manual M5 so it provides the best of both worlds. I could go on, but in short, this car is great! I change cars every six months due to lack of satisfaction, but this one is a keeper. It changes gears like a Porsche, It's comfortable like a Benz should be.
Body roll/lean on curves could be improved. Tighter steering and better control on corners. In other words, handle more like a bimmer and keep the comfort. I can dream, you asked.