Several years ago I had a BMW dealer in the Chicago area spend days trying to clear the SES on my X5. Their proposed solution was to replace all sorts of modules (on my dime of course, not theirs), which I politely declined. I brought the X5 home, hooked up my Actron OBD-II scanner and cleared the fault code myself in about 2 minutes. SES went out and life has been good.
Sometimes I question the effectiveness of BMW's diagnostic computers. If a simple Actron OBD scanner could clear the fault code, why couldn't their fancy equipment