To actually answer the original question, yeah, these are some pretty normal prices, especially if you go to the dealer. Check out the FAQs as well for the topic on Inspection I and Inspection II. They average out to be about $1K for each. It lists everything done to the car. If you actually sit and think about what they are doing, its all relatively doable yourself or individually for cheap. BMWs aren't supposed to have all that much maintanence, but when they do need it, its costly.
Your car seems to be at the right age to start needing some basic maintanence such as breaks and belts, but as long as you take care of these, you shouldn't have any more problems in a VERY long time.