Unsolvable 4x4 light issue

[tommymulligan]

Hello, I still cannot solve why the 4x4 light alone is on in my BMW X3 2005 3.0. I have a scan tool that gives code 5eb1, steering angle sensor supply. My code reader is taking live data from all wheel sensors / yaw sensor (which I replaced) / and steering angle sensor, so the sensors within the system required to make calculations all seem to be functioning. I did not reprogram the yaw sensor when I replaced it. SAS has not been reprogrammed after couple alignments. Brought to a professional foreign auto repair shop. They said they could not communicate with the steering angle sensor but I was able to with my 60 dollar reader. My actuator was checked and it is fine. Had low transfer case fluid but replaced it myself with proper fluid. Shop recommends replacing SAS. Should be covered by insurance so not a big deal but I am wondering if ill just be back to square one. The only next step I can think of is building a laptop with the BMW specific software and trying to reset the SAS myself which I dont think is very hard or complicated but I dont want to waste time and money on doing the whole old laptop with the KDCAN / INPA connections. Does anyone have any other ideas on this? I have fixed many things on this vehicle and this is the last white whale I need to resolve and I live in Wisconsin so I need my AWD back for winter. Any help would be more than appreciated .

[MarkJWT]

I suppose you have tried turning the wheels full lock to the left and then full lock to the right?

[jclausen]

Just save your brain go to an independent shop let them diagnoise it