Mine did that. Got the codes cleared by my Indy for free. Was nothing. He said these older x53s will sometimes do that, more so in cold weather. Occasional it happens from time to time and just goes out. Last year, it came on but I also got a 4x4 inop message on screen. That turned out to be a bad yaw sensor. Was also told the steering angle sensor can go bad on these but again, sometimes a code clear fixes the issue.

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2006 BMW x5 e53, M54, steel grey, black leather, pano roof, cold weather package, avic-z150bh head unit with JL Audio amp and speakers.