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I think the B&O system is getting a lot more abuse than it deserves. The source input matters a great deal. It's significantly better with a high quality source, and setup with the proper distribution. I find that the default studio/surround settings just aren't quite right. They're decent but you need to really dial in the settings and it can sound pretty fantastic.
Definitely the best production car audio system I've ever owned. I think the B&O in the F10 M5 sounds better, but I think this really boils down to the harmonics of the vehicle itself. The sound distribution and acoustics caused by the design of the interior has a much better feel in the M5 than the X5M.
Both are great, but do require tuning. Once tuned with a high quality source, it's pretty fantastic for a production car system.
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