I've had the OEM rack and the Yakima rack. One thing I don't like about the way the Yakima mounts is the rubber feet. They will leave rub marks on the paint after you take them off. You have make sure they feet are very clean or there is potential to scratch.
For those with bicycles about to buy an e39, this is why it's worth looking for one with the fold-down rear seats. I was able to fit all of this stuff inside the car, without using the any of the front passenger space. Only after my trip did it occur to me that removing the pedals would have made packing and unpacking much easier. I used the quick-release hub to take off my front wheel.
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