As a long time BMW owner (I am on my 4th one) I can say that one of the nice things on a new BMW is that maintenance is included. BMW does not charge for routine service for the first 36 months or 36,000 miles. This includes oil changes, as well as wiper blades / brakes / other wear items. After this period expires, the cars do cost more per service stop than a lower priced car -- but require fewer stops. Oil changes typically run a somewhat mind boggling $150 -- no matter where you go -- since the BMW engines require full synthetic oil, and a lot of it. However, the oil change interval is only once every 15,000 miles. Compared to the typical 3,000 to 5,000 mile interval of other cars you only do one service per their 3.
Here is a link to Car And Driver's long term test where they actually calculated their cost of repairs/service:
http://www.caranddriver.com/features/1903/long-term-test-bmw-x5-44i.html
I have also owned other luxury cars, and have been very happy with the costs associated with BMW. I will not buy Jaguar again -- high service costs, and lots of it in my experience. Your mileage may vary. I think the Toyota/Lexus products are very good -- and in fact bought one for my wife. Their vehicles are not as "fun to drive" in my opinion, so I will continue to stay with my BMWs.