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if you can retest the codes - it would point to the right direction. The speed sensors acting up can do this. Both of them are built into the conductor plate. You might want to scope the sensors to see if you lose a pulse while moving. If you do then you found your issue.
The deeper level error codes are 2 digit and change if the code goes from active to pending.
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2012 BMW X5 (Beef + Granite suspension model)
1995 E300D - The original humming machine (consumed by Flood 2017)
2000 E320 - The evolution (consumed by flood 2017)
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