ABS fault, then limp mode

[Salty B.]

Happened at highway speed, not braking. DING DING ENGINE FAILSAFE PROG then seriously-reduced power and BRAKE ABS warning lights.

Pulled off, restarted, limp mode gone, BRAKE ABS lights on. Then SERVICE ENGINE SOON showed up to this party.

Somewhat irony, I was going to a pick-a-part lot... and when I was done there, the BRAKE ABS lights were off and did not return. The CEL stayed on.

When I got home I hooked up my Ancel BMW-specific code reader, which does not seem to be very specific.

Do these make any sense in relation to what happened?

76 DME/DDE does not fulfill torque request
E3 Fuel trim bank 1, permissible range exceeded
E4 Fuel trim bank 2, permissible range exceeded
D3 Idle speed control valve, mechanical fault
28 thermal sensor for oil level defect
OA AUC sensor (the what?)
59 Central-locking drive's door, open circuit (unrelated but present)

Car ran fine after restart. I cleared all codes, will drive it some more tomorrow. Engine run s smooth, no misses, idles fine.