The other reason to take it in for a warranty claim is that it is not certain that replacing the sensor will resolve the problem. It could equally be caused by the engine wiring harness, and a failure in the circuit that connects to this sensor.

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2007 X3 3.0si, 6 MT, Premium, White

Retired:
2008 535i, 6 MT, M Sport, Premium, Space Grey
2003 X5 3.0 Steptronic, Premium, Titanium Silver
2002 325xi 5 MT, Steel Grey
2004 Z4 3.0 Premium, Sport, SMG, Maldives Blue