They'll get there eventually
They were going rotary past the 90s when it's time was done. They were going hydrogen fuel cell when everyone else gave up. Even when eunos was here last they were doing miller cycle engines.
They have a very optimistic research department always doing expensive projects and blowing cash.
They are certainly an interesting company with lots of tuning, tech and handling set up experience so if anyone can get into the BMW market it will probably be them.
(It will probably end up being Korea as mazda goes broke...
)