Some time into the waiting for a new ABS/DSC computer to arrive for my E46, I heard beeping while driving slowly (it would start when standing still and disappear when driving around 20 km/h).
This was odd, as I didn’t touch anything besides the steering wheel or the gas and break pedals.
Nothing in the instrument cluster changed either, so that put me in the wrong direction.
When the ABS/DSC computer is broken, the cluster looks like this: