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This happened to me on my G80 xDrive. The way it turned on was by me turning the car on then off then turning it back on rlly quickly bcuz I was trying to show some buddies how it sounded with the valves open on start up. Then I got that warning but then I pulled into a parking lot. Got out, locked the car walked a little ways away. Then waited 3 minutes then I got back in and it was gone.
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