I had the ABS/Brake amber light after extended driving at the track but it will clear after I power cycle the engine. If I continue , ABS will not function and brake will lock up.
I took the car to dealer and there was no stored code but they detect steering angle sensor as vicj stated. No fix.
May be the ABS module is flaky ?
http://www.bimmerfest.com/forums/sho...d.php?t=473489