1991 BMW 5-Series: Automatic Stability Control (ASC) traction control became optional on the 535i, while the 525i gained a more powerful engine, rated at 189 horsepower. The 535i's automatic transmission got a shorter final-drive ratio and reprogrammed management system, to produce quicker acceleration. Both models gained a standard telescoping steering wheel. The new high-performance M5 sedan carried a 310-horsepower 3.5-liter engine and 5-speed manual shift.

1992 BMW 5-Series: This season saw little more than revisions in standard equipment. A 525i Touring station wagon debuted in spring 1992 with a two-panel sunroof that opens over both the front and rear seats. Wagons feature a load-leveling suspension, and ride larger tires than the sedan.

1993 BMW 5-Series: Engines in the 525i series got variable valve timing this year, while their cabins gained standard leather and wood trim.

1994 BMW 5-Series: New V8 engines became available, in the 530i sedan and wagon, and 540i sedan. The first two got a 3.0-liter V8, rated at 215 horsepower, while the 540i benefited from a 282-horsepower, 4.0-liter. All models gained a passenger-side airbag. Two models were dropped: the 535i with its 3.4-liter 6-cylinder engine, and the limited-production M5.

1995 BMW 5-Series: A new 6-speed manual transmission could be installed in the top 540i sedan, replacing the standard 5-speed automatic unit. All 525 models switched from black to body-color lower body panels, to more closely resemble the V8 versions.

1996 BMW 5-Series: Awaiting the arrival of an all-new 1997 5-Series, BMW sold only leftover '95s in the early part of the 1996 model year. One new model debuted: 540i Sport.