During the snow storm in January, I started my 2001 X5 E53 and started to drive. As soon as I started to drive, I hear this crunching sound and the three lights listed in the subject field came on. I continued to drive and the crunching sound stopped, however, I smelled something like rubber burning.

The next day, it drove fine but the three yellow lights were still on. I spoke to a few people and they told me to not worry about it.

Yesterday, I started my car and I noticed that the three light were not on. I started to drive. As soon as I made a right turn, I hear this crunching sound an the car had trouble moving as if something was stuck like something to do with the brakes are transfer case. Once I came out of the turn, the lights came back on and it drove fine.

Has anyone had this issue and is there anyway I can resolve it without going to a mechanic? I am able to perform basic to mid level mechanic work on my own.

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2001 X5 E53
150K