I enjoy those features you mention on my G32 too and wouldn't be without them and I have the lane keep assist but never use it, I don't like that it places the car in the middle of the lane, and it does fight me when on a motorway and there is an offramp that I don't want to take.
I'm 6 years into ownership of my 7-year-old car and have never had an extended warranty. Outside the original manufacturer 3-year warranty, I've replaced my offside outer taillight as the indicator LED failed and I've replaced the Vanos actuators on the B58 engine due to a slight hesitation or "bucking" when the engine was under a slight constant load. Nothing else (touch wood)!