Those fault codes shows to the following, 5DF0 hydraulic pump motor, and 5DF1 hydraulic pump.
Got this info from another group, thank you bimmerfest. But you can try this and see if it works.
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Had same problem, so looked to the hydro unit and used a socket extension and put my ear against unit. I could hear it running but not that much. I tapped it a few times, unplugged it a few times, and it seemed to work. Lights went out. I put my ear to the hydro unit again using socket extension and this time pump sounded definitely more positive, more powerful, it obviously started running slow. Took it for test drive and jammed brakes on to activate the Abs a few times. So far all working good. Thanks to all the tips on here I know exactly what the problem is.
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Hope this works and point you in the right direction. Can you not reset the steering angle sensor and do a test of the pump in the INPA software to see if they work correctly.