Also read up on (google) BMW cold idle jerks. Could be bad vanos seals, but that would not cause the SES light to come on.

There should also be an idle control valve (easy to pull and clean) that could be giving you problems also, and that could possibly throw a light.

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2001 E53 4.4 Alpine White, Sports Package
2000 E36/7 2.8 5 speed Bright Red w/ a HT!