On E46 3 series, which i believe your car is based on, a simple ABS sensor failure will bring up all sorts of warnings like this, might not be 4 wheel drive fault at all.
If the speedo packs up too it's one of the rears, N/S ISTR, X3 might be slightly different.
Probably need to get the codes read to find out though, dealer or good indy.
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