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I believe you should be fine. If your that worried I would check under the car and make sure everything "looks" to be fine. But I don't think too much could have been done by running into some loose gravel except scratches and paint chips. (Underside is usually guarded by BMW's shield they put under their cars)
In GA sometimes we have metal plates in the road that bend peoples rims/axels so might want to look into that if it was a sudden bump and you are concerned.
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