Your stated priority list seems to favor the Lexus but your stated car needs favor the BMW. IMO, if you buy the Lexus, you'll always wonder what you missed by not choosing the BMW. Buy the BMW and an extended warranty, follow the maintenance schedule, and enjoy it for a few years until the warranty expires. After that you can buy reliable (and some BMW's are reliable, they just aren't as ubiquitous).
I've owned German and Japanese but I only remember the joy of driving German.