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Had the same problem, thought it was the steering angle sensor as well, but it was the motor on the transfer case that proportions the f/r torque bias. Bought a spare transfer case on ebay (was less than everyone else wanted for the motor alone) and installed it in five minutes and all has been well since then.
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| PROcede Rev3 | Vishnu Meth | DCI | BMW Perf. Exhaust | AR Coated/Catless | CP-E FMIC | Quaife | |