I'm having the same problem with my E90
it just happend tonight when i was playing with the car (swapping headlights) i had my wheel turned all the way so i could access the rear signal covers. When i went to turn on the car to test my lights the steering wheel automatically straightened itself out and the error came on. The wheels were still turned... I was able to get everything working, car drives like normal but now i have that error..
FTM error
DSC error
Amber BRAKE light on
I am also out of warranty