I don't know what you mean by not urgent. You don't have to pull over and call a tow truck if the light comes on if that's what you mean. But under no circumstances would I drive another 1000 miles. I would order the parts that day and as soon as they came in, do the work. Since I have other transportation it's not likely I would drive it at all. Preventative maintenance for brakes is best practice. I've never seen the light.

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X5 4.6 2002 Black Sap, Black interior. 2013 X5M Melbourne Red, Bamboo interior
Dallas