AWD, DSC, ABS, BRAKE, 4X4 malfunction. Goes into limp mode. Intermittent issue.

[lordshin808]

After getting all these light up, I pull over and shut off engine. Wait a minute, and the X5 starts back up. All lights are gone. I can drive home without any issues. This have happened 3-4 times last few days.

I've been getting the "set time and date" issue lately so I thought it was a failing battery. I replaced battery with a brand new 95ah AGM. Code with NCS Expert and registered the battery with my Foxwell scanner. Problem continues even with new battery.

My running voltage is 13.3 or 13.4... is that normal? Is my alternator going bad?

It's a 2007 4.8i E70 with 175k miles.

These are some of the DTCs from the Foxwell scanner.

6E7E DSC: Sporadic under voltage detected by EMF control unit.
6EC4 DSC: steering angle sensor adjustment.
6E32 DSC: hydraulic unit: internal

601 EMF: DSC Interface: Signal invalid
6023 EMF: Control unit: faulty power supply

51B0 EGS: signal from DSC implausible brake light switch

Googling this issue points to possibly faulty wheel speed sensors, but I don't have any DTC for this. Another possibility is faulty steering angle sensor?

Anyone here have this issue before or can offer some help? Thanks alot!