You need to have the codes read to determine the problem. If you don't have a dealer close by, an independent with the appropriate tooling may be able to do it.

Could be a wheel speed sensor, or something in the transfer case. There are a long list of possibilities, so getting the codes is the first step.

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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