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I don't and never have had a siren sound and I have had a hearing test though a few years ago.
I know of no reason that the steering would be linked to the rain sensor but I suppose it could be. There might be something else on the same circuit as the rain sensor that would be identified in the fuse box.
Have you tried using an auto stethoscope to pinpoint the source?
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 X5 4.6 2002 Black Sap, Black interior. 2013 X5M Melbourne Red, Bamboo interior
Dallas
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