Check the rear links. They may have flipped to the wrong side. The arms on the sensors should be angled toward the outside of the your X. If that is the problem, once it is corrected and you drive a short distance the warning should go away. Whenever you jack up the rear that can happen, especially if you drop it quickly. Always check them after it is on the ground as they may be toward the outside in the air and still flip back when you lower the jack.

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