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Ur BMW X5 series is having a transmission problems and it going to be worst if u don't take this car to a AMGO or the BMW dealership to take a look at it transnission gear box.Must have the car transmission fix.If u adnore this problems long enough the car transmission gears in the box will evenly buckle and grain to a ruin all of the gears parts teeths and than the car have to be in reverse and go to drive again every times tries to drive this car.Evenually all the gears teeths in the transmission box are all gone this car will go into iddle and will not go into drive gear at all.
sounds more like a brake wear sensor. The inner pads wear faster than the outer, so if you are checking pad wear, be sure to look at the inner pad. If you just had brake work done, one of the anti rattle clips on a pad may be contacting the brake rotor.
sometimes it will clear if you turn the X5 off and restart it. however, it could be an early indication that the tranny is about to expire. i have had it happen and it cleared with a power cycle, but also had friends where it cleared for a few weeks/months and returned. this time it was really the transmission that went bad. if you can't get it to clear, then i'd suggest taking it to the dealer and have them plug into it to have a better look.