I have a North American 2000 BMW 528iA with the sport package. Normally I’m just a lurker who figures everything out by reading old threads, but this issue has left me scratching my head so I had to make a post. I recently had the ABS module rebuilt, and after putting the original wheel speed sensors back on (and throwing the Amazon ones in the trash) I fixed the “ABS light trifecta” and all the other associated problems. With that being said, my DSC/traction control light is still constantly on. It is the only light on the dash. I am getting error code 52 “rotation-rate sensor, line” from the ABS module. (I am using a BMW specific scanner and adapter to the 20-pin connector in the engine bay) I believe it is talking about the YAW sensor under one of the front seats (I cannot get a straight answer on the location). I have done the steering angle reset and when reading live data, all is good. I’m fairly certain it’s not the steering angle sensor. The manuals all say code 52 is for a wheel speed sensor, which I know is not my problem since the ABS still works. It seems that the YAW sensor location can very widely depending on the year, can anyone tell me where it is on my car and if that might be my issue?