As stated by dkl, without scanning her it is very difficult to see what it might be. ABS module seems to me also, but it could also be the speed sensor in that wheel, but that would have other consequences as well, I can't recall if it's speedometer that wouldn't work either or what.

Also, a malfunctioning ABS module is a total nightmare, been there before. When they're really bad makes the car behave weird, all kind of gremlins everywhere.

Mine was having transmission failsafe program activated all the time, self leveling suspension inactive and deflated in the highway several times, none of the indicators in cluster working but revs, battery discharged overnight, and so on. You get the point.

Yours seems to have the hand brake released but still the light is on in the cluster, not sure if it's like that or I saw it incorrectly but that's a sign of a bad abs module.

Start by doing a scan with a bmw compatible, not generic. It won't go through these modules.

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BMW X5 2002 4.4i V8 - What a headache!!!
BMW X5 2019 XLine 3.0D - Loving it