Hi! Recently the BAS/ESP light came on in my 2001 320. The code showed that the lateral acceleration sensor is bad so I bought a checked used one. This made the light go away for a while and then came back with the same error. Cleaned the connection with drying contact cleaner and then put copper paste on the pins. The light went and came back again after a while. Bought an iCarsoft reader and ran some live tests (results in pic) while standing still at my driveway. What I noticed is that the yaw sensor is showing crazy values as well but it doesn't have any fault codes. Could it be caused by some contact issues at the lateral acc. sensor or should I investigate somewhere else? While doing the tests I sometimes managed to get the lateral sensor show values around 0 and that made the light go away so that is promising.