Almost done changing the brakes on the wife's R53...quick backstory-purchased all brakes and rotors after brake light warning came on. Had to drill out countersunk screw on rotor, and damaged some surface of wheel bearing. Decided to purchase all four bearings and replace, didn't want to damage any drilling out the hub/rotor screw. Torqued everything on the first corner...here were some helpful hints that helped me remove all the stuff on the second corner. Loosen 32mm axle nut with wheel still on the ground. No need to spend time removing the countersunk screw if you are removing the hub, it will just take a bit to loosen from the steering knuckle. I had to stop there since I over torqued a hub screw...will be doing the rears this weekend.