We had problems with my son's F30 320d 2016 pre Lci whereas he had two new tires fitted and they convinced him to have the wheel alignment done. This is where the problems with the steering angle sensor started. Eventually google'd it and found that there is a specific way to do the sensor reset. Took it to an auto electrician here in Hermanus and after i had convinced him to do it the way i googled it (he had the right program on his laptop - not sure which system though) he fixed the problem after the second or third attempt. First time he did not do it the way i told him to but just reset the fault which came up again about 100m down the road. Second or third attempt he got it right. According to the program you have to at turn the wheel full lock to the left, keep it there for a second or two and turn full lock to the right, keep it there and then centre the seering. After a second or two according to the program, car is fixed. Hope this helps.