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That warning means one of the sensors is bad...if you can figure out which sensor is bad they are pretty easy to replace.
You should be able to figure it out by having someone put it in reverse (with parking brake on!), then putting your finger over each sensor. If it's working, you will feel a faint pulsing.
If you don't need painted sensors (the unpainted ones are black), you can get them on eBay for like $35 for 6, just search for the part number (it was 9139868 for a 2011 x5...but confirm on RealOEM to make sure). They are cheap enough the you could replace all of them if you can't figure out which one.
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