The Beosound 5 works best with WMA lossless as this is the only format that supports gapless playback. I personally use a combination of WMA lossless, mp3 and acc (I've been too lazy to losslessly encode all my music).
With respect to audible differences - lossless is lossless. Lossless compression algorithms compress the music on the disk, but uncompress it when sent to the DAC. Lossless means that no bits are lost or changed in the compression/uncompression process. Assuming there are no bugs in the code, all the bits are the same when presented to the DAC (which turns the bits into music) regardless of the original *lossless* format.
Stan