Ride
2004 325i 5-Speed Sedan
Symptoms
While driving a few days ago, DSC light came on, along with "Brake" light that turned Yellow. The car would also give a single beep 5 seconds after I start to drive it.
Diagnosis
Took the car to Bimmer Sports. Paid $80+tax to have the codes read to me. (It took them literally 10 minutes to hook up the system and read the codes) I was told I need a steering angle sensor and to align the wheels. I asked for estimates and I was quoted $760+tax and that I would have to leave the car for two days.
Although I so badly wanted to have it fixed, I was not ready to shell out this kind of money, so I refused and walked out.
Solution
Since my steering wheel wasn't perfectly straight, I knew I had to get alignment at some point. Thought I'll give that a shot first. Got them aligned at a place called Limitless Auto in Scarborough. Paid $49.99+tax for 4-wheel alignment. Drove off, and lights were still on for about 20-30 minutes of driving. After that they went away themselves

!
Lesson
I was hoping that these well known places like Bimmer Sports have the experience and will do a better analysis than what they did for me. Reading error codes and just giving a blanket statement of changing parts that do not require changing, just because "thats what the code tells" them, doesn't earn them very happy customers.
I like the staff there, who is very friendly, but unfortunately I have not had a very good experience with them in last 3-4 times that I have visited them. Do your due diligence and get a second opinion before spending crazy amount of money. No matter how friendly they are, at the end of the day, these people are in business to make money.