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Not in a 5-series saloon or touring... We struggled to get ANY third person in the back when both of our kids needed car seats - even when one was just a booster seat.
In our current f10 M-sport, the seats "taper" more than on the previous e60 M-sport saloon (shaped more for only four people), so some of the wider child seats are more difficult to put the seat belt in. i.e. what you say about the seat bolsters.
X5 rear seats seem flatter from what I have seen, and not as curved/tapered as in the 5-series.
Unfortunately, it will either have to be a different type of car, or make of car.
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