Ok, found another post referring to the same fix as suggested here. Replacing the sensor is not a proven fix. I'd hate to replace it in vain. This issue may just be a glitch in the E53. A faulty yaw sensor results the abs triangle light showing on the dash, at least per my online searches. You get a clear indication there's an issue if that sensor is faulty.

https://www.bimmerforums.com/forum/s...on-(EBV)-fault

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'05 E53 X5 4.4i, '97 E39 528, '07 E92 335i, '16 F86 X6M.