When we first bought the X5, the beeping and honking when trying to back out of our parking lot at the sticks 'n' bricks (it's tight) was annoying, and who bothered to watch the backup camera screen. But I've come to appreciate it as time goes by. The combination of top-down view cameras and proximity alerts works pretty well to allow me to see what's really going on as well as how close I am to "things."
It doesn't have the lane-change warning system, and while I bet that would be annoying if you set it off often, it's inability to distinguish between just-fell-asleep-at-the-wheel and let's-turn-left-here is a design flaw I hope gets corrected.
