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As far as i remember the sticking vanos code does not throw the SES light.
I had my intake side throwing a code, I pulled a BMW specific code though not a p code. Anyway I told my dealer that my vanos solenoids were sticking and they replace them under my CPO warranty. Didn't clean or swap them, though they know I know what's usually up with my car. I normally tell them what to fix and they don't really diagnose it.
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