Dead/dying batteries can set odd ball codes in modules all over the place.
And most generic obd scan tools only pull codes from the engine(dme)
Many scan tools can read all the bmw specific modules.
So either get with an Indy or buy a better scan tool.

And turning the wheel lock to lock can work to reset the steering angle sensor, doesn't always, sometimes it takes a short drove.

But, sounds like you have real trouble codes set. Get them cleared.

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