[MFreedom]

A few "quick fix" ideas... I know it sounds primitive, but sometimes it works:
Put the car on stands:

1.) Disconnect Ground terminal on battery for 5+ minutes
2.) Check for loose sensor connections under the car including :
Traction Control Sensor (each wheel has its own)
-I have had these come loose after hitting a nasty pot hole (not in the M though)
3.) Check for loose O2 sensors in the various locations on the exhaust system (for the emission warnings)

I don't claim to be a mechanic or anything, but I know that often these "major" problems are solved by some insignificant oversight.

Good luck!