If the inactive warning on you definitely dont have 4wd. The car reverts to RWD every time you are at a stand still and engages the front axle when after launch.

Abs kicking in as about to stop is a symptom of a dirty/loose/failing wheel speed sensor (which alone will disable DSC)

On my e53 one of the bolts for WSS sheared off and I just used wraps of Teflon tape to keep it tight. When weather got warmer it got loose and I had symptoms like you describe.

SAS not working is often the clock spring but dirty signal symptom of bad sas. (if the value jumps around).

Read the wheel speeds while doing figure 8 and all speeds see if you can find one that is intermittent that's the usual fail point.

DSC requires SAS so SAS problem will disable DSC and likely abs.

__________________
2011 E70 • N55 (me)
2012 E70 • N63 (wife)