I wouldn't keep any german cars out of warranty... but that's more for potential repair costs than maintenance costs.
In terms of maintenance I think BMW is pretty okay, maybe a bit higher than Honda/Acura but the difference isn't that big to me, or relative to the price of the car.
Acura share parts with Honda (just replaced brake pads on a CRV- found out the pads are also used on RDX or MDX). That make it even cheaper to maintain/repair if you can DIY.
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