4x4 light, abs light, brake light and airbag light comes out with increase engin

What is your question?

I have a bmw x3 e83 2010 model 3.0d manual transmission with a total mileage of 44,300 km on the clock the problem I have now is the 4x4 light, airbag light, abs, and brake light all together lights in the panel board and i have an increase engine noise in the engine. i have change my transfercase servomotor 2 years ago and also my steering angle sensor and have reprogram it by the bmw dealer here in Philippines.what would i do to have this lights terminated in the panel board? i have tried to taking off the battery terminals and place it back and turn on the engine then all the 4 lights appeared again then i move the steering wheel lefmost and rightmost the 4 lights went off but after i drove the car again the 4 lights appeared in the dash board with increase engine noise. what can be the solution to my cars problem? thank you very much! waiting for your reply!

What makes this problem better or worse?

alarm lights with increase engine noise