We have owned three houses over the last 10 years, ranging from $175k-$250k. On average, we've spent ~$2500/yr on maintenance, ranging from big things (a new a/c unit, replacing cracked tile countertops) to smaller things (tree removal, plumbing, gutter repair - we're busy and not very handy, so we outsource all of that). The first two houses had other, bigger repairs that were needed when we sold, but we deferred those things since we didn't intend to stay long-term.... we easily could have hit the 2% number if we were staying longer-term and had handled all needed maintenance.
The current house is newer than the others (15 yrs old, vs. 30 & 80 yrs old) and therefore should need less maintenance.... though we may need a new a/c next year. (Had to have freon added this year and apparently our unit uses an old freon that will no longer be available next year, so the next time we're low we'll need a new unit).