I'm trying to diagnose a yellow trifecta issue. My code reader shows an error for yaw rate sensor and lateral acceleration sensor.

With the X5 running and in Park, this is the live data that I pulled:
Rotation Rate: -68.7 °/s
Transversal acceleration: -22.7 m/s^2

I just want to make sure that I'm understanding these accelerometers correctly. They both should read 0 units when I'm in Park on level ground, right?

Based on this data I've ordered a new sensor. I just want to make sure I'm understanding this sensor correctly.

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2000 E53 M62