We give a generalization of Dorronsoro’s theorem on criticalLp\mathrm {L}^p-Taylor expansions forBVk\mathrm {BV}^k-maps onRn\mathbb {R}^n; i.e., we characterize homogeneous linear differential operatorsA\mathbb {A}ofkkth order such thatDk−juD^{k-j}uhasjjth orderLn/(n−j)\mathrm {L}^{n/(n-j)}-Taylor expansion a.e. for allu∈BVlocAu\in \mathrm {BV}^\mathbb {A}_{\operatorname {loc}}(herej=1,…,kj=1,\ldots , k, with an appropriate convention ifj≥nj\geq n). The spaceBVlocA\mathrm {BV}^\mathbb {A}_{\operatorname {loc}}, a single framework coveringBV\mathrm {BV},BD\mathrm {BD}, andBVk\mathrm {BV}^k, consists of those locally integrable mapsuusuch thatAu\mathbb {A} uis a Radon measure onRn\mathbb {R}^n.Forj=1,…,min{k,n−1}j=1,\ldots ,\min \{k, n-1\}, we show that theLp\mathrm {L}^p-differentiability property above is equivalent to Van Schaftingen’s elliptic and canceling condition forA\mathbb {A}. Forj=n,…,kj=n,\ldots , k, ellipticity is necessary, but cancellation is not. To complete the characterization, we determine the class of elliptic operatorsA\mathbb {A}such that the estimate(1)‖Dk−nu‖L∞⩽C‖Au‖L1\begin{align}\tag {1} \|D^{k-n}u\|_{\mathrm {L}^\infty }\leqslant C\|\mathbb {A} u\|_{\mathrm {L}^1} \end{align}holds for all vector fieldsu∈Cc∞u\in \mathrm {C}^\infty _c. Surprisingly, the (computable) condition onA\mathbb {A}such that \eqref{eq:abs} holds is strictly weaker than cancellation.The results onLp\mathrm {L}^p-differentiability can be formulated as sharp pointwise regularity results for overdetermined elliptic systemsAu=μ,\begin{align*} \mathbb {A} u=\mu , \end{align*}whereμ\muis a Radon measure, thereby giving a variant for the limit casep=1p=1of a theorem of Calderón and Zygmund which was not covered before.