235 65 r17 - tires are in very bad condition; i will have to replace them. before i do that however, i want to replace the rear upper control arms....probably this weekend if i have time.

i recently purchased the bmw scan tool 1.4.0...i did a scan today on the car and the ABS module was showing a steering angle sensor issue(if i remember correctly) i will double check tomorrow...i think it's possible that this might be the cause...not sure though, because in the tool there is another section (LEW) - steering angle sensor, and this one wasn't showing anything.