Help with ABS/DSC/AWD warnings

[PHL08]

I've had an intermittent problem where the iDrive screen and instrument cluster will randomly give me all sorts of simultaneous warnings 4x4, DSC, ABS, AWD.

Initially this was happening after leaving the car for 4-5 days. After driving it, stopping the engine and then driving again the indications would all go away. Sometimes they would come on again, and then turn off on their own while driving.

Car had the original battery (7 years old), and other posts I read about this suggested it could be a voltage issue due to a bad battery. I took the preventative route and replaced it since it was coming due anyway.

Problem still continued. I had the battery tested (purchased a Duralast at AutoZone) and fully charged. Problem still continued.

Usually, when on a longer drive the indications would not occur. It would be happening on shorter, local driving.

Ran the Carly BMW app with the WiFI OBD and got all the codes and found the E-Box fan was not working. Figuring it's probably not related, but important to have the electronics kept cool in this Summer heat, I replaced that. Reset the codes, and the E-Box fan fault went away.

But the indications still happen, randomly. Engine light is not being triggered by these. Here's my latest fault code readout. Looks like some sensors need looked at. Any tips on the best way to tackle these as a DIY would be great. I've saved a good bit of $$ with other DIY's (brakes, battery, plugs, coils, vanos solenoids, filters, etc.). Hopefully some of these things might be easy enough for a DIY job.

iPhone Fault Report - Carly for BMW - 18.5 - 3 FV
2015-08-28 13:48:36
BASE: E70
BUILD-YEAR: 2008
MODEL: X5 (E70) alle/all alle/all (92)
FAULTS: 7
ECUs: 29
BATTERY: 12.3#
DEPTH: Normal communication
SPEED: normal
CONNECT: Fast Connection
VERSION: 8.1.2
WIFI: >Carly for BMW<
ELM: ><
COM+: >UNKNOWN<
<===========================>
0. Motor Control:
<--------------------------->
Dynamische Stabilitaets Kontrolle / DSC:
- Fault: Steering angle sensor
- Code: 006EC4
- Fault: Wheel-VL
- Code: 006D9B
<--------------------------->
Hand brake / Feststellbremse (EMF):
- Fault: unkown failure
- Code: 006022
<===========================>
3. Transmission Control:
<--------------------------->
Transmission / Getriebesteuerung:
- Fault: VGSG wheel Notlaufregelung activated. No DXC desired torque setting
- Code: 0055C3
- Fault: CAN message
- Code: 0055C6
- Fault: CAN message
- Code: 0055D0
<===========================>
12. Systems:
<--------------------------->
Car Communication Computer CCC:
- Fault: Message failure
- Code: 00E18F