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So as far as I can tell this is how it goes: BMW is putting in some hardware (e.g. front-facing radar) for baseline security reasons (pedestrian warning) into all cars. Then you can configure your car with ACC from the factory as an option which might use the same hardware; in this case you won't have to pay a subscription. Or you can buy the ACC feature afterwards in their Connected Drive store. From what I saw there, it is a one-off payment but no subscription (at least for now).
Same with the parking assistant, I guess most of the hardware will be in every G20.
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