Ditto, ditto, ditto. If you replaced the steering angle sensor...it MUST be coded to your car's specific ZCS coding in order for the new sensor to correctly communicate over the car's communication bus system.

The manual driveway "reset" along with "clearing" the fault code isn't enough. See the info below...especially near the end & last paragraph. I'm not sure if the e53's SAS is in the same location indicated in the info below which was for the e38...but the e38/e39/e46/e53 are all the same gen BMWs and use the same communication bus setup for similar engines & options:

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• 2015 f06 650ix GC (Moonstone exterior/Cohiba brown Merino Leather interior)
• 2014 f15 X5 50i (Space Gray exterior/Mocha Nappa Leather interior)