Remove the trim above the pedal assembly and disconnect the lower 
Steering Column from the upper steering column. Exercise caution, as separating the lower steering column from the upper allows the 
Steering Wheel to spin freely; lock the steering wheel in position to prevent damage to the MRS contact reel. Remove the nut and slide the bolt out of the steering column and bushings, then pull the steering column down toward the floor. Remove the crash sleeve with the crash disc from the upper steering column spindle and slide the steering spindle into the steering column. Pinch the tabs on the steering angle sensor and slide it down the steering column spindle to remove it. Trace the electrical wire for the steering angle sensor back to the plug and disconnect it. For installation, reverse the removal process while ensuring the steering system has freedom of movement throughout the entire adjustment range, replace the crash sleeve, and code the steering angle sensor using a BMW diagnostic scan tool before performing steering calibration.