You guy's might want to consider that your ABS/DSC module is going bad or is bad. Happened to me a year ago. Changed brake pads, rotors, wheel sensors etc. still those lights come on. I found
Module Masters > Home rebuilt it for $300 vs spending over $1000. This was my experience and saw that what happened to me on my X before are the same symptoms that i see in this thread. Just my 2 cents.
Andre