From the behaviour I described to them , they are guessing it could be sensor related. They told me to check every sensor's plastic arm to see if they are intact and also check each links that the sensors are attached to, to feel for any loose or damage.
If everything looks fine, I'll bring it in for a scan....

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His : 2005 X5 4.8is (SOLD)
Hers: 2007 X5 3.0si (SOLD)
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Retired:
1999 518
2000 323i
2002 M3 (beautiful car)
2003 330Ci