First 5 years you have complete warranty, so I think most think (beside wear and tear) are covered there. Since we are not counting tires and brakes, I don't think there would be much maintenance beside scheduled ones. Electronics after warranty period will be expensive and given it's electronics, I think it will fail.
I would change transmission fluid and transfer case as per severe maintenance.
So maintenance will be cheap compared to other german brands. For first 10 years/100,000 miles repairs would land up around 2-3k (can vary a lot depending on trim) and maintenance around 2-3k.