As far as I'm aware the OP is running stock wheels, so it doesn't seem related to non-OEM wheels/rubber.
I noticed the other day - on my stock wheels - that the left rear wheel would sometimes feel like it was slipping during a turn while accelerating hard (from a traffic light). I've yet to get the Drivetrain Malfunction error but I suspect it's not far off.
Car is going in tomorrow for fluid top-off and pre-flight check before heading out to SF.
2014 X5 xDrive50i ZMM - Alpine White/Mocha (Mods In Progress!)
2014 Jeep SRT - 2013 Tesla Model S P85+ - Bimmerpost Featured
2013 F10 M5 - 2012 550 xDrive - 2011 M3 ZCP