Another Trifecta...X5 3.0 2002
 

It's intermittent, but works maybe 1% of the time, and most of the time all 3 lights are on, so abs and stability control don't work.

If I start rolling, all wheels are showing me speed, so does it mean it's the ABS pump? Any way to test it?

https://i.ibb.co/dB6f5k2/20241119-222545.jpg https://i.ibb.co/Pc5zj0r/20241119-222515.jpg https://i.ibb.co/p0jkMRS/20241119-220454.jpg

The errors indicate a steering angle sensor fault (104) and time limitation passive switching (90) - so it could be two things but tackle the steering angle sensor first - the other error may be a symptom of that.

If you need the ABS module rebuilt, I can recommend an excellent company in Ontario, Canada.

It looks like my problem is the angle position sensor, maybe after doing suspension work.
I've recalibrated it, and it seems to be working a lot better now.
The trifecfa still comes on, but a lot less than before, and often time when I start the vehicle the trifecta is there, but when I start driving, it disappears. I ordered a new steering angle position sensor and now just need to find time to replace it. I'll take the old one apart to see what it looks like inside.