its worth checking the car fluid levels, oil, coolant, brake fluid and power steering
but this can also be faulty steering angle sensor, and an alternator failing which causes overvoltage in the system. The ARS (dynamic drive) module always stores an overvoltage fault if this is the case.
The only accurate way to diagnose is with a bmw specific scan tool, this will be needed to read the fault codes, from there the faulty component can be determined and replaced.
and if you've fitted different sized wheels and / or tyres then this too can create this fault
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