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I have arthritis in my neck and back and avoid SUV's for one main reason: unless it's a Suburban which is rock solid on ride, I get "head toss" sitting higher up especially with a sport suspension. My friend's early Porsche Cayenne was unbearable for me as a passenger.
The 5 series is low as are all performance sedans, so that is a consideration, especially entry/exit for a "big and tall" frame like mine, but I find the f10 to be acceptable enough.
In 2014 the f10 LCI likely firmed up the suspension of the standard 5 series, so you should probably try it (be careful about checking tire pressure to make sure its right) and you may find the 2011 to be soft enough for sure.
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