As an update: on the way home yesterday, got the limp home mode enacted again. This time there were some different codes as well as a couple repeats:

0055C3 VTG: AWD limp-home control activates. No DSC specified nominal torque
005F77 DSC: Engine management: interface
00604E RDC: RDC system
006057 RDC: Wheel electronics, rear right
00A6F3 CCC-A: Coding data error
00E723 No message (condensation sensor, 0x2D1), receiver integrated automatic heating.

As you can see, the RDC errors are becoming consistent and when I got home decided to scan again and only code that reappeared in the 20 miles home was again the RDC error. Starting to think this may be a bad right rear ABS wheel speed sensor. Any additional thoughts?

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'01 740i Sport MKIV, Quad Brake Lights, Bi-Xenon retrofit, HID Fogs Dinan 7 Struts, Springs, camber plates, Intake, MAF, CAI, Throttle Body, NBT Retrofit, Strong Strut


'99 318ti Titanium Silver; '97 318ti Boston Green; '13 X5 3.5i Saphire Black Metallic
'84 633csi Black (sold); '88 325iC Black (sold); '97 740iL Black(sold); '01 740iS Black (sold);'97 318ti White (sold); '08 X5 4.8i Titanium Silver (sold); '96 318ti Alaska Blue (sold)