Disconnect the negative (-) battery cable and cover the battery terminal to prevent accidental contact. Prior to disconnecting the battery, ensure to read the battery disconnection cautions. Remove the left lower dashboard trim and the left dashboard panel. Next, remove the steering shaft clamping bolt and disconnect the steering angle sensor wiring harness connector. Remove the snap ring from the steering shaft and slide the steering angle sensor off the shaft. Installation is the reverse of removal, ensuring to align the locking pin with the mount hole in the sensor. Finally, perform a steering angle offset test using a BMW service tool such as DISplus, MoDiC, GT1, or an equivalent tool. Once calibrated, the sensor will send a confirmation ID code to the DSC control module.