I had several different faults when I first ran the codes so I erased all of them, re-ran the scan without doing anything else and got zero (with no changes). Then recranked the car, put it in drive, felt the gears engage (slight shake), and pulled forward a little. I put it in reverse and got that most recent error, the gear symbol on the center display, and the "drive moderately to BMW service" message on the console. That's when I scanned the codes again and got that clutch code. I can do it all again this morning and see if anything new comes up.

History of the vehicle. A family friend owned it since new. In 2017, my parents bought it, had 53K on it. For the next 3 years, my parents barely drove it, to a tune of <1000 miles/year. They're in their 80's and mostly drove their other car if they needed to get around. They then decided the X5 was not comfortable enough and wasn't driven enough and I bought it from them. They took good care of it, had it serviced through BMW mostly, and I got it was ~56K on it in March. Since March, I've put about 1200 miles on it (work mostly). It's gotten more use in the last 3 months than it is used to in the last couple years really.

I haven't noticed anything with the transmission and it always drove very well since I've had it. I was shocked Monday when this started.

When I look at all the codes that were there that I think are drivetrain/transmission related:

A0B1 Input, selector-lever position, implausible.
507B Parking-gear sensors implausible
55C3 AWD limp-home control activated. No DSC specified nominal torque
A817 Steering-wheel angle invalid

The ones above were there and I had cleared them. I'll see if any come back up today. It seems like it's a selector/programming input type issue. But I am only guessing, have no real clue.

Had 3 GWS Gear Selector Switch faults yesterday too before I wiped everything.

E099 Message,damper program
A833 Button, deblocking, jammed
A83A Undervoltage

Also the reversing camera is giving me a Transport Mode Active fault which keeps coming back. Just for that section which is strange.

I did unhook the battery on Monday thinking maybe I can reset the system while I was checking to make sure I had a good connection. Wondering if the "undervoltage" came from that. I didn't see that code come back after I wiped everything.

I'll recheck things today and can do whatever you suggest. I've been hesitant to drive it out of the drive way, but can if needed.