So yesterday I was about to pull out of a parking lot but I stopped my car on the side and put it in park to look up some directions. Then I get this message on iDrive:

"ABS Control Systems
Braking and dynamic-response system malfunction.
Drive Moderately.
Avoid hard braking."

I restarted the car and the error was gone. Braking was perfectly fine on the way home. Not sure if I still have to get my car checked out since the error hasn't shown up since.

 

do the basics and check fluid levels...brake fluid, power steering fluid.
then just watch if the error reappears.