Same issues as you here, but I replaced the speed sensor with some cheap ones and the trifecta is still there...

So, I just sent my ABS module to CheapABS last week. Came back this week with a note that "No Fault Found" and a refund (minus the shipping). So, I am gonna buy 4 BMW speed sensors. Hopefully that will do it.

I have not replaced the steering angle sensor. Found this really good video for where it is and how to replace it: https://www.youtube.com/watch?v=rckQyUf00xI If the speed sensors don't fix the issue I'll try that next.