Steering Wheel Angle Sensor Error Code

[cslcsl0510]

My 2003 X5 (87000 miles) gave me three yellow warning lights so I took my X5 to a local shop for code analysis. The shop told me that they found "steering wheel angle sensor" error code and they needed to bring in someone that owns a more advanced code reader to run a second test. The shop said it takes about 1 hour to read the code and there are two potential error codes:

1. steering wheel angel sensor - about $300 to fix
2. transfer case - about $1,500 to fix (the shop claims that they fixed a x5 with the same code with a bad transfer case)

My brakes are working fine so I think the ABS modules are fine.

I called another shop and they are telling me to take my x5 to the dealer as the steering wheel angel sensor is somewhat complicated to fix.

I searched prior posts but did not see anything regarding any transfer case issue.
I am in the NYC area - can someone recommend any independent shops that can fix my x5?

Thanks,