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I've tried everything I can think of to fix these issues—replacing the transfer box motor and double-checking the rear brake lights—but to no avail. If anybody else has had this issue, I would really appreciate hearing how you overcame it. As always, I appreciate it.

Have you examined the supplementary brake lights that are activated only during instances of forceful braking? The positioning of the inner ones on the tailgate was seen in the e92 models, however there is uncertainty about the e70 models.
It seems like an appropriate course of action would include attempting to clean and calibrate the steering angle sensor.

I performed the cleaning and calibration procedures on the yaw angle sensor.

Could you kindly verify the specific definition you are using for the term "yaw"? Are you referring to the floor-mounted sensor (yaw) or the sensor located on top of the column behind the clock spring (SAS)?

Where may the yaw sensor be located?

There is some uncertainty over the precise configuration of 3 series, however it is often observed that they are typically positioned on the floor in the central area.

thank you very much

other ideas, please