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Unfortunately, BMW has not defined what lifetime means. Most people interpret it to mean 100K miles. Lifetime fluid changes are a point of contention and intense discussion and there isn't a consensus. Some discussions on those turn ugly very quickly and it is like opening a can of worms. In my opinion, it is advisable to change coolant and power steering fluids somewhere between 50K-75K miles or 6 years (this is just what I go by). Also, I do not flush them- I just drain and fill in the new fluid. You got to make your own decision or wait for other responses here and then decide.
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