If the car was on the lift with the engine running and the transmission was put in gear OP would likely be talking about his X taking a drive off the rack. Even if that was the case, the 4 wheel drive system would have transferred power to the wheels on the ground with no harm done.

Your problem could be the transfer case actuator gear. One troubleshooting method is with ABS, DCS lit, shut off the engine. Sometimes you will hear a clicking noise coming from the transfer case. That is an indication the transfer case actuator gear is shot.

That said, I don't believe in coincidences similar to what has happened to you. First, there is absolutely no reason to remove the steering wheel for an alignment. I think the mark on the steering wheel is matched to the mark on the steering shaft. Your off center steering wheel is most likely an indication of an alignment done improperly. The steering wheel sensor is most likely the cause of your problem as it is integrated into the ABS system. When the alignment is corrected so the steering wheel is on center I think your problem will go away. FYI-a large percentage of alignment shops do not have the equipment to properly align an X5.

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X5 4.6 2002 Black Sap, Black interior. 2013 X5M Melbourne Red, Bamboo interior
Dallas