Update:
Sup Guys,
So i dropped off my X5 on Friday for my 9:00am appointment at the Port Chester Service Center. I was assigned (SA) Dava Somma and explained the issue i was encountering with my vehicle along with the SIB for the extended warranty on the Footwell FRM. Dave agreed that it sounded like it was an issue with the FRM. I was quickly given a loaner and told they would reach out to me once the diagnostics was done. Six hours later i received a call from Dave stated the car was ready for pick up. The issue was in fact the FRM and covered by the warranty. I returned the loaner, jumped in my X5 and all is well again.
Thanks for all the help!