I plan on getting the invisihitch. Bolts on in place of the existing rear bumper and is completely hidden when you're not using it. There's another thread on here and one on bimmerfest if you google invisihitch F15 or something similar.
I believe it's around $595 or so then you just need to buy the bike rack from Thule or Yakima or BMW, wherever.. (keep in mind, BMW doesn't make these things themselves, so don't feel you 'need OEM to be safe' or anything like that….).
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