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I'd take the front wheels off and check there is no damage to the ABS sensor cable. Also if possible disconnect and re connect it in case there is a lose connection.
Hopefully that is all it is since going full lock removes the warning.
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2006 E87 130i
M3 front and rear arms, M3 Front and rear ARB , Quaife LSD, BMW performance wheel (non electronic), 135i Brakes, DS2500 pads, Apex wheel studs, Adjustable Bilsteins, API Half cage, Hankook Z221's (track) and Bridgestone RE002's (street) 225's all around
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