I changed all four of my tires a couple weeks ago, this error message appeared before changing them... and after changing them.That error sometimes happens if your rear tires have different pressures, temperatures, or wear levels (and therefore thickness/diameter) - I once got it when my car was parked half in the sun and half in the shade with a 15 degree difference in tire air temperature.
When this error message appears, are your rear tires showing up as around the same pressure and temperature on idrive? Are they both the same age or did one get replaced much more recently? That's what I would check or think about before going further.
Had an alignment done last week and needed to reset the steering angle sensor in ISTA, but after that, was good to go.I've read that if the car has had an alignment, suspension work, steering wheel removal, or accident repair and the electronic power steering or yaw calibration wasn't completed correctly, this warning could pop up.