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Had similar problems
If you have all three lights on (4x4, brake and another one) it is likely the transfer case actuator motor, specifically the little plastic wheel that wears out. I replaced mine in about 2 hours for $10 for the part that I bought online.
However, my transfer case seems to be more damaged, I am having erratic shifts now under acceleration and some mechanical noises. The transfer case itself apparently wears out after 100k miles or so, especially without oil changes. I just bought a rebuilt one from Libson Twin City for $1250 (without the actuator motor). It is supposedly factory rebuild by Magna in Austria and has a 12 months warranty. The OEM part from BMW is about $3000.
One thing that ruins the transfer case is unevenly worn tires! I believe that is what did mine in, wished I would have known! Good luck!
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