Choice between Honda Legend and BMW 550 Individual

If the goal is precisely to "switch to a solid car," then the choice is obvious: Honda. The opinion that the Legend is a "soft sofa for pensioners" doesn't apply here — that's more about the Camry. As for the "five," 90 thousand kilometers of mileage are unlikely to have been accumulated just driving to shops, and besides, after a crossover, switching to a car with 10 cm of ground clearance won't be very comfortable.