Hi, purchased a 2008 x5, this error is on dash, i have had it plugged in and comes up under vtg - 55c3 - awd limp home control activated-no dsc specified nomina torque, garage seem to think servo cause when they told it to do something it didn’t basically. Has anyone got any advice on how to DIY diagnose without paying a garage an arm and a leg, i have read about turning left to right will try tomorrow however most other advice ive seen is when other errors exist. Thanks