Went through same phase. It would be nice if they sold Dual Car seats (two connected with less bulk between) for such a purpose.
We were able to fit two car seats with our oldest between in my RS6. The back seat of the RS6 was larger than the 5 series. We migrated to a A8L for a few years. Now my kids are all over 6 feet and don't fit in the bed of a pick up truck.
Mike
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2018 M5 and 2019 Porsche Boxster GTS
Prior. '94 325is, '97 M3 Lux, '16 M2
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