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I had this issue about a week ago. It was about 35 degrees F outside and the malfunction came on. I stopped and restarted the car, sat still for a couple of minutes, and it went away. That was the first and only time I saw it (I have a 2013 X3 28i with ~19,000 miles).
I haven't had this issue since. Also been driving around in 30-35 degrees the last couple of days.
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