The beginning of your description sounds like they engaged the wheels while the front end was off the ground and the rear was on the ground - is that what you meant? That is bad for AWD...

With all those lights on, you will not have antilock brakes or stability control - both good to have with a trailer.

Except for the first comment, I would guess they damaged the wheel speed sensor on the wheel that got removed. Dealers probably has them in stock ($120 or so) and one screw to swap it out. Then do the steering wheel turning thing to reset the system.

No idea why your wheel isn't centered - it is possible, but demented, to take steering wheel off, then reinstall it one or more spline out of whack then realign the car to make it go straight with the wheel uncentered, but why??

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David.X5
2001 X5 4.4i Sport
SOLD! at 160k miles