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I've had this happen numerous times on my 2011 x5d, primarily because of the JBD tuner installed. I found that if you pull over at your earliest convenience, put the x5 in park, turn the motor off and open the door (this shuts off all motor components) and then restart the motor, everything is reset. This has only happened at extreme RPM conditions, so I am assuming that it is some sort of protection for the motor or electric trans. That being said, if the vehicle has been turned off for some time now, you should be able to start it back up and the message should be gone.
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