Well, I spent a bunch of time looking online, and when I got home tonight, decided to try the easiest thing first. Turned the wheel left, then right, then center, and all of the warnings went away, and everything works again!

__________________

2001 E53 X5 4.4i Sport
Titanium Silver / Black
141k miles, and broken down more than it runs...

2002 E46M3 Convertible with 28k miles - DD