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As stated by gas-can, you need to have your steering angle sensor calibrated or recalibrated. Independent garages often times do not have the necessary hardware/software to accomplish this correctly.
My advice is to bring it to a BMW dealer and have them pull the codes and then calibrate the SAS correctly with BMW equipment and software.
I replaced the SAS in my car as I had similar trifecta of lights. My DSC controller was getting NO signal from the SAS as it had gone bad. The dealer wanted $1400 to replace the SAS. I bought a used one online for $67 and did it myself. The dealer will pull the entire steering column to replace the SAS, as per the BMW manual, but it is not necessary and adds about $1,000 in labor to the job.
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