Over the past 10 years we have had an Audi, a BMW, and a Mercedes - all were bought new or close to new (low miles "program cars" with warranty) and only had scheduled maintenance that I can recall. I remember the fans in the ventilated driver's seat in my BWM malfunctioned and had to be replaced - but it was a no-cost warranty item. That's the only non-routine service I recall on those three cars.
It is true that the wear and tear items are expensive but is it that much more than the Lexus? Certainly tires aren't more, I can't imagine that brakes are that much cheaper.