Do you have approximately 74649 miles on your odometer (you stated that you have around 70K in the first post)? For whatever strange reasons ISTA/D outputs millage in kilometers. Don't know what 524280K mileage means though. Some of the codes you have (VTG, Steering Angle, DSC) have been the same for my 2008 X5 4.8i when battery was going bad (disappeared after the new battery was installed and programmed). Some of the other codes looks like there was an issue with power supply (see SINE - alarm, voltage supply tampering). When battery starts going bad, you can see quite a variety of weird codes (errors) popping up in this car. How old is the battery? Clearly it doesn't explain grinding noise but if you power supply is bad, only BMW gods know what can go bad with this car considering amount of gizmos and electrical current driven devices and one of the codes you have is for Valvetronic. Just curious, did you seek a second opinion?