It'd be great if pictures were posted of the SAS values reporting nominal values...


But anyway,

Well, start looking for things that make sense why it would throw that code. It's been suggested to check other things too. Did you check to verify what values the YAW rate sensor was reporting? Do they seem logical? What about when you jolt the car? I like to sit in my sport seats and jolt around. Usually the YAW sensor can pick up some of this acceleration.

Here's a really nice image showing everything the DSC (ABS) has going to it for conceptual purposes.

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2003 BMW X5 3.0i -- MT5, 3.64s final gears, H&R lowering springs, K-Mac bushing kit
2007 BMW X3 3.0Si -- MT6