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I use both Foxwell NT530 ($150) and ISTA+ (bootleg) for diagnostics, and BimmerCode (~35) for basic to advance features coding.
The Foxwell NT530 is a very capable scanner for its price point, but doesn't have the full programming/coding capabilities like the super fancy Maxisys mentioned by BzsBimmer above.
the NT530 has been useful for:
1. Battery registration
2. Clear SRS light
3. DCT clutch adaptation
4. Disabling Transport mode
5. Verify DTC codes
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