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I had these same issues. It actually started happening more frequently over the course of a few weeks. I searched the different bmw forums for information and the one that I tried to exclude was weak battery/electrical. Sure enough, my alternator was putting out 12.8V or so with the car running. Even after a long drive, I would hook my battery charger up and with the car off, it would read 12.3V and 30% or less charge. However, I never had issues starting the car up. Finally after following the situation for 2 weeks, I went to the dealer. After doing diagnostics, the dealer said nothing was wrong. I couldn't believe it and asked to tech to sit in the car while I unlocked dash and showed the battery voltage. I couldn't believe it but the alternator was putting out 13.3-14.3V. WTF! THe tech said he didn't do anything. Since that time, alternator voltage has been normal and no further "DSC, 4x4 malfunctions"/limp modes have popped up.
So if this happens to you, check your electrical system.
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