Bought Bimmer link. I have multiple codes and unsure where to look at but got a screenshot of codes that seems relevant.

Under dynamic stability control i have code 5E24 where it states that the signal from front left is missing
Transfer box is throwing 55C3 code witch point out a possible faulty wheels speed sensor
And Park distance control has multiple codes related with sensor that are short circuited. I am guessing if 1 sensor fails all the system is then compromised.

I did not find anything with the ABS thought unless I overlooked something.

Here are the screenshots. Let me know what you guys think