I might have figured out the AWD & DSC errors. I am going to tear into my steering wheel and check the sensor in there, apparently they can get crud on them and cause this issue.
http://www.e90post.com/forums/showthread.php?t=520467
The problem I was having when searching is people have different configurations. Some don't have AWD and some don't have the i-drive screen so getting the exact same scenario was hard to actually find.
I did see someone over on a different forum have the same setup with same errors on the screen. They ended up replacing the steering wheel sensor for ~$900. I'm going to try my luck with cleaning up the disk.
