There will be something about that here: https://duckduckgo.com/?q=bmw+exhaust+heat+recovery.
A quick scan of the result suggests BMW achieve 2% better fuel mileage.
Quote:
BMW provides an update on waste heat recovery projects ...
https://www.greencarcongress.com/201...-20110830.html
Insulation of the engine compartment, gearbox oil heating with exhaust heat exchangers installed with gasoline engines, or the heating function of the exhaust heat exchanger for diesel engines are features that are well-suited for vehicles that are predominately driven over short distances, BMW says.
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