May need to calibrate steering angle sensor. I have seen some with the internal fault come back after calibration. If it has the internal code, your more than likely going to have to replace it(have fun). If you read the code and it says calibration, or plausibility, allocation, you need to do a service function through a BMW scanner or equivalent. Usually after low batt voltage, after sitting for a extended period, or batt change you may have this occur. After a low voltage situation you can most likely steer the wheels lock to lock and it may reset.... If not, def need scanner