when the Xs goes into safe mode i lose power at the gas pedal. in the manuel it says to pull over and turn off the car turn the key into the 1 position wait a few min before turning the car back on .so far its been working i guess it reset it .but every now and then it happens. it also happen when i had my x5 3.0 but it stop for good i never took it in to the shop. i hope this helps