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#1 thing to consider is finances.
Can you afford the cost of ownership of these? In my experiences, and I have owned multiples from each auto maker your listing, the Lexus is the cheaper to live with and still very nice to own.
For what I want and need from a car the only ones I would consider there are the Lexus options.
BMW's are great but when were talking about cars that are being sold that are 4 years old with sealed transmissions and diffs you will need to think down the line about things like replacing transmissions and other parts as they are no longer serviced items in some BMW models. IMO when a manufacturer builds in a flaw or an expected lifespan is when I no longer buy from them.
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