BMW E60 Steering Angle Sensor Repair – 2003-2005 5 Series – All Models ↗
Photo guide to pulling the steering-column switch cluster (SZL) to clean its steering angle sensor when it throws dash and iDrive warnings: disconnect the battery and wait, pop the airbag off (the release spring is fiddly), remove the wheel with a 15 mm deep socket, then take out the SZL.
Tools mentioned: Micro flat screwdriver (airbag release), 15 mm deep socket, impact or breaker bar, trim tools
Airbag handling: battery disconnected and wait before starting.