Are you going an adaptive headlight failure?
What you can do is adjust it by opening your hood and there is an adjust by your headlights you can do with a screwdriver I believe. Park in semi dark to see the angle of both of them against a garage to match the beams. I think you can move them from your idrive system but im not sure I don't have idrive and did this manually. Mine had to be adjusted because I lowered my car and was pointing slightly down than i liked.