4 Codes and ABS/ASC light is on while at track day - Need help!

[HandsomeMike]

Did a track day on Saturday at NCM and near the end of the 4th session, my ABS/ASC lights came on and stayed on so I pitted, turned the car off and let it cool down while I packed my stuff to make the 55 minutes drive home. When I started it the lights were off and I could toggle the ASC on/off with the button but about 5 minutes later just the ASC light came on and stayed on. About halfway home on the interstate the engine started to hesitate a little and then stopped. It did this a few times so when I got to my exit I popped the hood to give it a look over and saw nothing obvious. When I started the car again the check engine light was on and I continued home. I didn't have anymore engine hesitation/missing but could feel a pinch of power loss on the low end when accelerating from a stop. I scanned for codes this morning and got these:

P0340 Camshaft sensor inlet signal
P1550 Idle speed control valve closing solenoid control circuit electrical
P1509 Same as 1550 but opening instead of closing
P0161 Faulty Rear Heated Oxygen Sensor Bank 2 · Rear Heated Oxygen Sensor Bank 2 harness is open or shorted

All of this crap with the ABS/ASC happened while under full throttle on a straight away. I left ASC on all day due to cold track temps so it got a workout. Where do I start? Reading about the ABS/ASC looks like it could be a dirty or faulty wheel speed sensor or brake position (?) sensor on the brake booster. Could this issue happening first be related to the series of codes that happened later?

Any help appreciated!

[Masdav]

My 97 328i is doing just about the same thing. Did you ever find a solution?