I have had those lights on for a while now, a while back when it was in the shop they said I needed a new steering angle sensor, I'll tackle that one after I get the damn P0155 code worked out. Then the damn display pixel problem fixed.

Some have success resetting the steering angle sensor, start the car and turn the steering wheel all the way right then all the way left then back to center.

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2001 X5 4.4