Truck? Oh, you mean SUV.
(Sorry, pet peeve...)
BMWs really do some funny stuff with low voltages...enough to start, but then voltages too low for some modules, etc.... I am just guessing here, but first I'd trickle charge it. Disconnect the battery from the car for a while, charge it, reconnect. If it is a 4,5 year old OE battery I'd just replace it. It may NOT be the battery, but chances are you'll be needing one sooner or later. If it fixes it, great- if not you are looking at $$$ for a tow and diagnostics.
I usually buy the largest battery I can fit. I think yours is an AGM, so you will need to have the car's battery module 'reset', maybe reprogrammed if you change sizes.