The situation you describe is very similar to the one I had. I got that warning light § to take the car into service and took it into crevier bmw in santa ana. My service advisor told me that it was an emissions thing that was not required because were in california and just turned it off and I was on my way. About a month passes, I change my tires and I get the yellow brake and dct lights just like you. When these lights are on I believe you have no ABS and traction control so I drove very carefully. I searched on the forums and they always claim these lights are because of the steering angle sensor which happened to be the case. My service advisor told me that the sensor was out of range and just needed to be reset.
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