Engine Fail Safe Prog+ABS light+DSC light+sluggish

[2003x5guy]

Update.
Since my problem had originally occurred. The faults were intermittent. I was too busy to really deal with it and it really wasn't affecting the driving really.

The issues I wrote about in my first post occurred about two more times but again never for very long and was really more of a nuisance and disappear when I turn the car back on.

Everything was quiet for a week or so but then started getting intermittent DSC (yellow circle) and ABS fault lights on the dash.. No more "engine fail safe mode" issues as I orinally had. These new fault environments would come and go.

I know I needed to get the codes read to see what was going on. In the meantime I put in some seafoam fuel cleaner as a "why not".

Then finally had the codes read by a BMW shop.

5a brief power interruption
(76) 118 DME/DDE does not fulfill torque request
(68) 104 steering angle sensor, internal

The shop was either being lazy with me or they weren't sure exactly what the problem was, saying they needed to research the codes more. However, When I left, they suggested to replace the battery in case the battery was not providing proper amps, triggering all the faults due to the sensitive nature of the system. And the steering sensor.

Upon inspection of the battery myself later ( I don't know how old the battery was ). I deduced by stamped on codes of the duralast gold battery was made in 2005. So going on 5+years. Plausible cause to everything.

Going to see about replacing it. But I could see the alternator being cause as well.