Need help with electrical issue

[Infuscate]

When driving, the car will randomly pop a handful of codes. Theylll all come up together, and they will randomly disappear together. The infotainment screen shows the following faults:
Dynamic Drive Inactive!
Brake/Drive fault
Service Engine Soon
Parking brake fault
Servotronic malfunction.

I'm thinking and hoping it's a bad ground, though I didnt see anything lose. I'm gonna disconnect the battery to reset the PCM, but I want to see if anyone else has any thoughts. I had the following codes pulled:
P0492
P0491
P0500
P1721
P0128.

Any help would be appreciated. I'm mechanically inclined, but im not too sure what to do next.

- - - Updated - - -

It basically turns off the power steering. Takes a decent amount of effort to turn at lower speeds, which is the only running issue that comes up. It runs fine otherwise when the codes are up.

[White94RX]

First, P-codes are useless. Get a real BMW scanner. Second, any codes are useless without a description to accompany it.

[Infuscate]

First, P-codes are useless. Get a real BMW scanner. Second, any codes are useless without a description to accompany it.

Got a recommendation on a good one with live data? With this car, I might as well buy one.

[White94RX]

I don't have any experience with anything other than BMW factory dealership tools. But maybe someone else can chime in. I use ISTA.

Carly, Foxwell I think is one. There's a few

Sent from my Pixel XL using Tapatalk

[TxGR8White]

I use INPA.