For those that are getting Steering Sensor Error Internal
There are a lot of people that mention getting this error when they scan their cars using BMW Scanner 1.4. Sometimes they are SOL and need to replace their sensor. However, you can try doing this:
Turn the wheel all the way to the right till lock and then all the way to left. Then centre the wheel, making sure that the wheels are straight at that point. Then use BMW scanner to clear the error.
Hopefully, it won't come back. At least it did not for me. And maybe it is my imagination, but my steering became sharper. Hope this helps!