I suggest you try both ABS systems. I don't have a clue how well the new BMW ABS will work, but the S10 works pretty well nearly everywhere for 98% of riders. The only thing I can say is I know the YAMAHA is good. I ASSUME BMW have later generation ABS in the new model. Even then it depends on how they set it up. The YAMAHA has the option of separating the linked system on the fly by using your rear brake before the front. As far as Servicing goes, you will never get a service needed nag screen on the YAMAHA. It's pretty much standard Japanese, It has easy access to electrical, filter, oil filter, It takes 2 minutes to "pull your pumpkin" if you want to inspect the shaft, Shaft oil changes are easy. The ABS can be disabled easily multiple ways, Pull a fuse, remove a sensor etc. The systems on the bike fail gracefully. You end up with a standard bike if traction control and ABS fail. Its built as tough as a brick shithouse. It is slightly better off road than the "last" BMW and I bit less "sharp" on road. It's a good thing. No excuses necessary for buying one. You don't really need to "split the bike in half" if some seals needed. Valve adjustments are easier to get to on the current BMW, but the YAMAHA is like the Strom. It may need some shim changes at some stage in its life. The paint on the BMW is nicer by a bit and there are some nice cosmetic touches. It's up to you to decide how much paint is worth, because it seems that below the paint lurks some concerns. The GS is not directly comparable to the S10 neither is the GSA. The S10 sits somewhere between the two. The GSA arena is really where the S10 competes. I don't think BMW intended for the GS to be the "long range adventure bike" it just ended up like that much like the V-STroms. The YAMAHA has now gone 3 years with pretty much no issues with anything major. There are some little niggles though but nothing too expensive. It's not going to be perfect like any bike. YAMAHA so far have been pretty good about warranty stuff as well but that will vary between "importers" but it seems most of them got the memo about not screwing customers.