SOURCE: BMW X5 Trans Fail Safe Program,
sometimes it will clear if you turn the X5 off and restart it. however, it could be an early indication that the tranny is about to expire. i have had it happen and it cleared with a power cycle, but also had friends where it cleared for a few weeks/months and returned. this time it was really the transmission that went bad. if you can't get it to clear, then i'd suggest taking it to the dealer and have them plug into it to have a better look.
SOURCE: My Bmw e39 2003 Display shows Trans Fail Safe Mode
That is a pretty robust transmission but its computer is very sensitive the quality of the electrical supply. If you take it to a shop, they will probably put a known good battery in the car and check and clean the electrical grounds before they even look at the transmission. If this is your original battery, you will probably save yourself some money (and perhaps a trip to the transmission shop) if you replace the battery yourself and clean any ground connections you can find. Sorry, but other than the one near the battery, I am not familiar with the ground locations on this model, though there should be a ground strap around one of the engine mounts that should be inspected/cleaned.
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