Update:
After reading some other posts about the steering angle sensor, it seems I did not properly calibrate it after disconnecting the power to the vehicle (turn wheel all the way to left, then all the way to right). After I did this, cleared the faults and took it for a test drive, this fault did not come back. Now I'm left with these.

<===========================>
0. Motor Control:
<--------------------------->
Engine / Motor:
- ECU OK, no fault code
<===========================>
1. ABS / DSC / Brake:
<--------------------------->
Dynamische Stabilitaets Kontrolle / DSC:
- Fault: Wheel-VL
- Code: 005E24
<--------------------------->
Hand brake / Feststellbremse (EMF):
- Fault: unkown failure
- Code: 006022

<===========================>
3. Transmission Control:
<--------------------------->
Transmission / Getriebe GS 19:
- ECU not present/no answer
<--------------------------->
Transmission / Getriebesteuerung:
- Fault: VGSG wheel Notlaufregelung activated. No DXC desired torque setting
- Code: 0055C3
- Fault: CAN message
- Code: 0055C6
- Fault: CAN message
- Code: 0055D0

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2017 X4 xDrive28i