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You can pipe a reverse cam signal into the OEM Navigation screen with some third party devices, if keeping an OEM look is important.
I wired a "license-plate light" reverse cam into my e86 and ran it to a "Navtool" brand unit that interfaces between the nav computer and the video line, and it has worked great for me. The visibility at night, in particular, is waaaay better than trying to make the rearview mirror useful.
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