Trying to diagnose an issue, confusing

[Analyte]

Hello all,
I'm working to resolve an issue with the wife's X5 50i. Hopefully, someone has seen then before and could offer advice.

The wife said the back up camera had a delay when going from reverse to drive. In fact, she went to park and the backup camera was still visible on the screen. She had to back out of the camera for it to go away.

This then happened again, and instead of going back to park she went to drive and took off. She said the backup camera display remained until she hit around 5-10mph and then the Idrive display returned to normal. It's at this point she got the fault light on the dash.

She called me and it drive fine with no abnormal qualities. When she got home, I put my NT510 on it and pulled three codes:

A83A - undervoltage but will not cause a warning light
CF80 - engine management setpoint-torque request
9C5C - heating heat exchanger sensor

The A83A appears to relate to the GWS, but I'm not finding anything wrong with it. The indicator works fine, and it identifies the correct gear when changed and the gearbox adjusts correctly as well. The self test didn't find anything wrong, but it shouldn't give a fault light anyway based on my reading of the TIS documents.

CF80 appears to be related to the transfer case fluid. It's about 10k from being due for another change, but I haven't seen this before.

9C5C appears unrelated, the wife hasn't reported any issue with the HVAC system so I'll set this one aside for now.

I originally thought a had a sensor bad that was not notifying the car when reverse gear was disengaged to cut the camera. Now I'm no so sure. The C5 drives for, shifts fine, and unable to find anything weird other than the reverse camera not going off like normal when shifted out of reverse.

Could the trans fluid need changed as well?

Any ideas?

Thanks!