Mercedes has a more illustrious racing history than BMW, they know how to make a driver's car if they want to ( to be fair, I am sure BMW can also make cars that rides like a Mercedes), they just have a different target market.
Talent is talent, I am sure the engineer can design cars that suits BMW's requirements.
2013 X5M, Full Akra, Velo Tune, KW V3
2016 M6 Coupe, 600HP CP, M Performance exhaust
2016 M5 Frozen Bronze, CP, Platinum full leather