Hi Riggodeaux
I am in similar situation. My 2005 X5 is sitting at the shop for 4 days now. Basically I have same symptoms after the mechanic replaced front axle and power steering hoses.

Is your issue resolved?

Thanks

Aside from the yaw sensor going bad I seem to recall seeing some posts about the steering angle sensor (SAS) needing to be re-calibrated. After battery has been disconnected or drained the X no longer knows the position of the steering wheel as read by the SAS. Without it the DSC system is locked out. There are two levels of SAS re-calibration: one you do simply by turning the steering wheel full turns lock to lock but another via GT1 only where you point it straight ahead and reprogram it. I also recall in GT1 you can see output from SAS to verify it is working. You can also see output of yaw and wheel sensors that can be used to verify them too.

best of luck

The mechanic did all the above and replaced transfer case actuator. Main issue seems to Can Bus is going down for whatever reason.

Back again. DSC/4x4 light on. I had mine scanned at a shop with autologic It threw codes 5EB1 [steering angle sensor] and transfer case codes 5F3A and 54C6 [transfer case fluid change]. The DSC light kicked back on when I left the shop. They changed the transfer case fluid, and opined that the 5F3A code indicated the actuator gear [which I replaced 50k miles ago] was shot. I'll listen for the tell-tale gear clicking, but wanted to confirm with junky cosmos: did yours' throw the 5EB1 code as well as the 5F0C yaw sensor code, and did you fix it by replacing the yaw sensor? I don't want to replace both sensors if I don't have to ....

bummer on your codes/lights
Its been a while since my issue but I do seem to recall having a few codes in there for Steering Angle Sensor (SAS) and Yawl both. However I did also have my batt disconnected for a while so which causes the SAS to need resetting which in theory can be done by turning wheels lock to lock. However I do recall lots of posting about not being able to reset SAS with the lock to lock trick or postings about people thinking SAS were bad yet able to fix by going through GT1 calibration of SAS. I would suggest trying that before replacing.

I do recall being able to get rid of my SAS error before replacing the Yawl sensor however my yawl was intermittent.

Some of my earlier posts at start of thread also show how in GT1 you can show the outputs from the SAS and Yawl sensor. If I had to do it over again I would start by checking the values being reported by SAS and Yawl (my Yawl was missing one axis) , re calibrate the SAS via GT1, then maybe move to replacement parts.

I bet you have already but just for good measure on the anything electrical with the X, have you confirmed your battery is in excellent shape?

thanks, Junky. Yes, my electrical system is fine; I'll take it back to my earlier shop [that finished up my front suspension work, just before the DSC/4x4 light appeared] to have then run the codes on DIS/GT1. If it comes to it, I'll replace the yaw sensor, but the multiple warnings I see about replacing the steering sensor not being a DIY job [and requiring coding before you even drive it!] make me reluctant to jump in there. I don't perceive any performance issues; given the code, I'm thinking its not the yaw sensor, either, just a finicky bavarian electrical glitch that the computers should sort out. Same with the codes thrown for the transfer case [fluid just changed], with the shop thinking the 5F3A being the actuator gear I replaced 60k miles ago. I'll listen for the click and replace it again if necessary.

I'm having this same problem now. DSC 4x4 light on. Started intermittently now always on, no other lights, no clicking gear(mine already was replaced so I'm familiar with what is sounds like when it fails).
The Error codes I got are:
DSC – 5EB1 DSC Steering – angle sensor
DSC -5F5B DSC Instrument cluster
DSC- D35B DSC No message

I ordered the module/sensor that goes under the console. Will swap it out when it arrives in about a week and report back.

Update: Found the part locally. Replaced it, and back in business. No more error!

The yaw sensor?

Yup. Pictured in post number nine.