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I would suggest you take it a to non-dealer BMW Specialist....one familiar with the all-wheel drive cars.

It does look like your speed sensors work

Have you searched on-line? I searched on just one of your codes and found this:

BMW 04 X5 Traction control DSC Mil on constantly.

I have this 04 X5 with DSC 4X4 mil light on constantly. Scanned system found fault code 5EB1 Steering angle sensor supply, 5F3A Transfer case (54C6 oil wear). I replaced the transfer case oil and reset the adaptation. I replaced the steering angle sensor and relearned and I replaced the Yaw...

www.bimmerfest.com

 

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This issue - is not an easy diagnosis, though it may be a pretty simple fix.

You will need second level BMW-specific diagnostic tools, (INPA, ISTA, etc.) to diagnose, reset and calibrate sensors, etc.

I suggest you drive over and see Jake at BMW specialist Wile Motorsports in Walpole, MA and have a (free) conversation with him about it. I am confident he can fix it and not charge you an arm and a leg.

If you want to try and tackle this yourself:

• get INPA or ISTA-D loaded on a laptop with correct cables.
• Double check that you have all the codes
• spend a weekend or more reading every online post you can - not just E83, but E46 and frankly any BMW that has same codes.

 

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I only have the data logged through my scan tool. I’m setting up ista today so hopefully that will be able to deliver real time data? I think my scan tool records like once per second.

Any update? I'd still recommend a free convo with Jake at Wile Motorsports in Walpole