If the OBC has not been read for error codes in sometime, the codes should be cleared and see what returns.

You don't need spacers or have to compromise how the wheels are balanced. Stick on weights do come off sometimes but I say get the wheel balanced again if that happens.

Assuming your steering wheel is centered, after disconnecting the battery or suspension work the steering angle sensor will likely need re-calibration. As mentioned the lock to lock to lock may do the trick or BMW type scan tools will do the job. Steering angle sensor will cause the DSC light to come on. Seems like it the ABS light can also light up but not sure.

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X5 4.6 2002 Black Sap, Black interior. 2013 X5M Melbourne Red, Bamboo interior
Dallas