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Want to follow-up and let the community know that the yaw sensor was bad (measured -7 deg when the car was sitting still). It's located on the passenger side floor in front of the seat. The carpet padding was soaked! And the module was very corroded. I found a used one from a mini cooper, swapped it out, and all is working with the DSC now.
Also, for new to early Z4 folks like myself, the 2003-2005 Z4s do not have TPMS. They use the wheel speed sensors to determine if one is "lagging" the others to infer that the tire may be flat. This error light was triggered as part of the yaw sensor issues.
Last edited by tomjonesBT33; 11-18-2019 at 09:28 AM..
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