4x4 light on, codes for steering angle sensor

[Palantir]

Hello, have been recommended over from Bimmerforum as wasnt having much luck with advice in the trifecta light on my E53.

2004 3.0d Sport

Got the 90 degree wiper adjustment (or something like that) error code for the steering angle sensor, so decided to have a dabble at changing myself. Used a second hand part. Unfortunately I am still getting the error after putting new one in.. have I missed a crucial step? Alot of posts I am reading mention calibration after coding, I only coded because I have the BMW Scanner v1.4.0, is this why light is still on? If so can someone point me in right direction to what programme I need to calibrate please as im at a lose.

Its worth mentioning before I couldnt erase the error code no matter what on the old sensor but now on the one ive installed it can be cleared but immediately comes back when the steering wheel is moved.

[Leslie]

Have you turned the car from lock to lock each way .I've heard that suggested on here after power up from a 4x4 error it may not help and other that that I dunno but it sounds like the straight ahead position is not known so the system is confused, this would be critical for any decisions the system has to make .

[Raj]

Firstly they thew full lock to lock as mentioned Leslie mentioned.

If that works for a short while then try getting the steering angle sensor reset BUT I personally think if the error returns it's most likely a new sensor needed. I've just had the one on ours replaced under warranty but they did try a reset first but didn't work.