I just experienced the same problem, steering unexpectedly felt heavy and pulling slightly to the left, seemed quite variable, although at maneuvering speed it seemed normal, just at speeds over about 5 mph it had issues. @JasonInRVA mentioned in his video that one of the rear parking sensors was showing phantom objects, same with mine - don't know if this is related or just a coincidence. I know that the steering torque and angle sensors in some cars can go out of calibration and that steering lock-to-lock will sometimes make them re-learn limits and center positioning (at least this is the case with Audi and VW cars with electrically assisted steering - not sure if it applies to BMWs).