Just a follow-up:
Scan showed fault codes for both front wheel speed sensor gaps and steering angle sensor.
Removed, cleaned and refitted both front wheel speed sensors (found very dirty) - no more faults.

__________________

Current:
2004 X5 4.8is - Le Mans blue/Cream beige
1994 E31 850CSi - Sterlingsilber

Previous:
1987 BMW E28 M5 - Delphin-metallic
1976 BMW E3 3.0Si - Arctic-metallic