Raise the front of the car and remove the road wheel, followed by the splash shield underneath the engine. Measure the outer tie rod end in relation to the tie rod and record the measurement, as an accurate measurement aids in approximating correct wheel alignment when new parts are installed. Pay attention to the correct placement of the inner taper on the locking ring. At the outer end of the tie rod, remove the tie rod lock nut at the steering knuckle and loosen the tie rod adjustment lock nut. Utilize a BMW special tool or an equivalent to press the tie rod end out of the steering knuckle, then unscrew the tie rod end from the tie rod shaft. Installation follows the reverse order of removal, ensuring that threaded parts are clean and applying anti-seize paste on the inner tie rod threads. Use new self-locking nuts where applicable and refer to previously made reference marks to temporarily set the toe. After reassembling the steering, have the car professionally aligned and perform a steering angle sensor adjustment using a BMW scan tool.