Have you checked the steering angle sensor?

I believe actual error codes were targeting the yaw sensor and no sas related errors.

Didn't see that.

I actually found a headlight as well, the lens was a bit rough but nothing that a $13 headlight restore kit couldn’t fix. Figured good temporary solution until I bite the bullet and purchase a new set. I have the halogen zenons. Does anybody know if I can swap the bulb to a D1S or another variant of HID/LED bulb? Tried searching on here but I’m new here so still learning how to search

Not quite sure what that means but I think all face-lift cars (LCI) use HID/Xenon D2S Low/High projector beams with an extra halogen (H1) high beam inboard of the projector.

I'd doubt it's easily done - the projector assembly is designed for D2S HID/Xenon - and changing the projector assembly require opening up the entire headlight...

Use Google and the site search function. Enter something like: -

site:xoutpost.com headlight D2S mod projector LED

Well they’re xenon housings but there’s no ballast on the headlight, the bulbs in there now are just standard H7’s. That’s why I’m somewhat confused

Not the case in the US. HID/Xenon was either a standalone option or part of the premium package when I purchased mine back in 2004.

Africa, Nairobi national park
 

Was on a trip to Kenya and spotted this X5 3.0 in Nairobi national park. The same color as my 4.4. I was driving a rented lexus rx 270 and I just wished I had this beast instead - it looked so amazing in this terrain and part of the world :D.

The "zenon" housing you're referring to is called a projector housing. Xenon is the lighting system type. Xenon refers to the lamp and driver that uses superheated gas instead of a metal filament to create the light.

From the factory E53s came with either Halogens in a projector housing or Xenons in a projector housing. Yours obviously has the standard halogens not the optional xenons.

You cannot install the D2S (or any other standard based xenon) into a factory halogen housing/projector. Swapping the projector housing for an OEM xenon assembly isn't worth the work if you are happy with the aesthetics of the OEM assembly, its easier to just buy the entire OEM xenon assembly do some minor wiring and code for Xenons.

The other more popular but usually less productive choice is to buy a retrofit kit that has a xenon lamp with a halogen type base (H7 in your case). These kits can be had from ebay for as low as $35 (and are a crapshoot for quality) or from more reputable outlets/vendors for up to a couple hundred dollars, and are usually built to a better standard.

Yeah I would've taken pretty much anything over an RX, not that they are bad cars, I just really don't like them.

I do love seeing E53s in environments other than my balmy gulf coast soccer mom round trip. We just came back from Frisco Co and every time I saw snowy, muddy E53 it made me crack a little smile.