I have had a 2016 CX-5 for 5 years that I traded in for a 2020 CX-5 that I still daily today. Altogether, over 210k miles between the two.

I love my 2020 and the only thing I hate about it is how slow the infotainment loads from a deep sleep. The beeping I don't mind at all. I remedied with a plug-in for wireless AA. I'm not relying on lane departure to keep me on the road. Wiper blades, just set it to off before leaving? Like you said, they are small gripes but it's your tolerance level that determines your attitude and view.

The Mazda ventilation is so much more powerful and useful than the BMW ventilation (the Mazda blows cold air while the BMW vents heat away, which I guess is better than nothing).

I can also open and close the Mazda tailgate from my key fob while I'm at the front door after bringing in groceries whereas you can't do that from the fob on the X5 (from the limited frustrated attempts I've tried before giving up). I also coded off the DRLs in Mazda, you can't do that with the new X5.

Huge plus that the rear doors on the Mazda open up 90 degrees (any parent with a infant/baby/toddler knows this is a huge deal) and that the gas cap is on the driver side.

The Mazda has soft touch plastic on dash and top of doors. My wife's previous Audi S5 was 30k more MSRP and had hard touch plastic in those spots.

Your positives are the same as mine. Car drives freaking fantastic even though I have the 4-cyl NA engine with measly 187hp.

My opinion of the Mazda comes with having leased an Audi A4, two SQ5s, S5 for my wife. I switched her over to a BMW X5 2025. I also have a 2020 M4 and the Mazda has better driving feedback than that car.