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I guess you might encounter alternator problem. You should have got over 14v when the engine is running if your alternator is working fine, however, you said it was only 13.x. I don't think it is the angle sensor, because you would have had all lights up including ABS, brake light and 4x4 light if your angle sensor goes wrong. Run a test on the alternator.
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--2004 E53 X5 4.8is - ECE version; right hand drive; Located in Hong Kong; ext. black sapphire metallic; int. leather black; adaptive dynamic bi-xenon headlights; 16:9 onboard monitor w/o navigation; 20" genuine BMW Y-spoke 214 wheels with Bridgestone Dueler H/P Sport tires; Int. rear view mirror w/ compass.
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