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I had a rear camera installed on ex-E89 (2011 35is). Forgot the details, but it required an expensive module (around $400 I believe) plus a wired camera. Installed professionally, cost amounted to around $900. It interfaced perfectly with the PDC as well. As soon as you engage reverse, the iDrive screen would change to a full size cam, with the PDC overlayed; once you change gears, screen returns to previous activity.
It was well worth it.
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