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Upallnight... I verified buy the dealer it's on the outside under that square cover. Your picture has a different switch pictured and plug connection.
There are two plug connections on the trans, one for that switch and another for the trans ecm. I unplugged cleaned the connections for the hell of it. The plug connections were free of dirt but you never know if some white corrosion may be on a pin. I sprayed all connections down with ACF-50, I also sprayed the neutral safety switch. ACF-50 is like 100 times better than WD-40...Nothing against WD I still use it on other applications...I sprayed ACF-50 on my Triumph Speed Triple instrument cluster dash reset buttons that stopped working...it fixed them. So I drove the truck for 2 days now and no more warning messages. I'm replacing the switch anyway.
The tech did try and pull codes and nothing....I would have to get it in limp mode in order to pin point the defect. Because its intermittent it resets when you turn the key on and off. It can't pick up a bad circuit board unless it's inop at the time of testing.
I've researched this and found other owners have reported they replaced there neural safety switches to cure this problem. I've also seen complaints in deep snow or water people were getting the same complaints and it would go away...thees plugs must have been getting wet. BMW does a great job engineering but sometimes you have to scratch your head....such sensitive parts hung in the elements under the car 6 inches from the road exposed to all kinds of sh@t and that also has to stand up from heat off the trans. My guess is the part has deteriorated letting moisture in and corrosion.
I'm having it installed Mon will test all week and report if fixed. On my model this only effects 2000 to 2002 4.4's only so this is a small sampling of E53's..glad I found the recall/tsb and was able to diagnose this only happens in Park.
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2002 X5 4.4i Sport Wheels
2014 X5 35i M Appearance & suspension package
1995 Porsche 993
1972 Porsche 914-6
2020 GLE 450 Twin Turbo
2019 Alfa Stelvio 500hp Quadrifogilo
Many motorcycles
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