If the ICM was replaced but not coded or calibrated correctly, the yaw sensor may output raw data that the DSC doesn’t recognize. This requires via ISTA.
When error 800AC5 is active, BMW disables many of these safety systems. bmw error-800ac5
The official description for fault code 800AC5 is . If the ICM was replaced but not coded
The yaw rate sensor is critical for:
: A yellow warning message on the iDrive display stating that safety features like Lane Departure Warning, Active Cruise Control, and Frontal Collision Warning may be unavailable. Intermittent Failures Active Cruise Control