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2001 to 2002
- SMGII available
- In-Dash CD Player replaces In-Dash Tape Player (non-Nav cars)
- Bi-Xenon option replaces single Xenon
- Titan Shadow Trim replaces Gloss Black Trim
- Navigation Screen changes from 4:3 to 16:9
- Topaz Blue Metallic added as standard color
- Automatic Headlight option
- 19" Wheels option added (mid year)
- Strut Bar added as standard equipment (mid year)
2002 to 2003
- Basic Scheduled Maintenance Plan extended from 3/36 to 4/50
- DSC/ABS unit moved from rear left of engine compartment under the brake fluid reservoir (leaving large empty space).
- Aluminum Trim added as an option
- DVD Navigation replaces CD-ROM Navigation
- In-Dash CD Player available for Navigation equipped cars
- Revised HVAC controls
- Topaz Blue Metallic & Steel Gray Metallic dropped from standard colors
- Mystic Blue Metallic & Silver Gray Metallic added as standard colors
- LED Tail Lights (mid year)
- Trunk Handle extended (mid year)
2003 to 2004
- BMW Assist (BMW version of OnStar)
- Square rear view mirror with BMW Assist and Fin at the back of the roof
2004 to 2005
- Laguna Seca Blue and Oxford Green Metallic discontinued
- Alcantara available as a standard option
- Eucalyptus Malt Wood Trim available as a standard option
- Competition (try not to laugh) package (ZCP) added including 19" CSL "style wheels", Alcantara steering wheel and hand brake, aluminum interior trim, slightly larger (front) cross drilled rotors, M track mode for DSC, modified suspension and steering ratio, cruise control deleted. Available starting with 12/04 production.
- Interlagos Blue Metallic added for ZCP equipped cars only
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