DSC 4x4 and EML lights help please

[Lynxjock]

2004 4.8is - The amber 4x4 warning light came on steady the other day, after turning off engine it cleared only to pop up again after driving 20 miles or so, everytime i turn off the engine and restart it cleared. BMW main dealer put it onto diagnostic reader and said it was the steering angle sensor, changed it and with diagnostic costs too charged me £350. Only to tell me that the fault is still there and they now think wiring might be to blame too, to rub salt into the wound, they cannot now recode the new steering angle sensor so the orange light is on all the time now !!! they say they need the car for more diagnostic checks to get to the bottom, plus when i drove off the steering wheel was turned right to go straight so turned around and asked if they could please at least put the wheel back on straight.


It's gets worse, late yesterday afternoon the emmisions light came on and the same dealer said it pointed towards the Cat but can't be sure, I took car away and will try to get it sorted at a good indi garage, I thought diagnostics told them what was wrong ?? The dealer said it only points them in the right direction ? Surely that can't be right,

Added had full emmisions test done on the car and the emmisions are spot on so doubt its the Cat,

again any help with either the yellow dsc 4x4 light ( which is not the steering angle sensor) or the emmisions light would be a great help