I did the same move two years ago, and I brought my 4 years old car.
I believe that the age limit is 5 years regardless of the mileage or any other consideration.
keep in mind that you will have to pay 5% customs if you cannot that these hase been already paid in UAE. (usually you can get a paper from the car importer in UAE that will allow you to go with to the UAE customs to get this official certificate)