Wipers won't turn off 4x4 & yellow brake light on

[Rsoxs19]

I have a 2011 x5 35d at 175k miles that’s been very reliable. However earlier this week it wouldn’t start and it turned out to be the ground strap. Made a temporary ground and drove on that for a few days until oem one came. Last night I got the 4x4 light and yellow brake light on the dash, replaced the oem ground this afternoon and still the same lights. The wipers also sometimes randomly go on and won’t shut off. Not sure if it’s a coincidence that these lights came on the same week I had this ground issue.
I’ve been using ProTool to try and narrow it down. These are the codes it has.

C918: No message wiper operation. 0x2A6. receiver JBE, transmitter FRM/SZL/LWS/IHKA
55C3: AWD limp-home control activated., No DSC specified nominal torque.
D378: F-CAN Message (DSC sensor, 165) incorrect
D34B: F-Can Communication Fault
D36F: No F-Can message (dsc sensor,D8)
D36D: F-Can no message (SZL, 194)
D36E: F-Can no message (SZL, 2A6)
D36C: F-Can no message (SZL, 1D6)
4458: message(steering-wheel angle, 0xC4)

There are some miscellaneous codes like brake pad wear sensors which don’t really make sense. The dsc randomly throws codes that sometimes come back but sometimes don’t. When I drove it this morning from sitting overnight there were no lights. Shut it off and turned it back on and they came back.
I already tried turning wheel lock to lock, nothing. Battery is fully charged, 14.8v at idle. All speed sensors and steering angle sensor work as checked with live data in ProTool.
Anyone have any ideas?

[Rsoxs19]

Update: After some more investigation with live data in ProTool I noticed a few things.

- Longitudinal Acceleration is pegged at -888.996 M/S^2 when driving or at idle
- Lateral Acceleration, right side of vehicle shows normal numbers when driving but Lateral Acceleration, left side of vehice is stuck at 0 M/S^2 when driving. I feel like they both should adjust.
- Yaw rate, left side of vehicle is also stuck at 0 M/S^2 when driving

I think this is important information but I'm not sure if these issues are a symptom of some larger problem or if they are the cause themselves of the dash lights.