Yellow DSC & BRAKE light cause?

[thomaszr]

I’ll be driving my 2001 325i and all of the sudden it feels like the drivers side front wheel grabs for a second and then lets go.

Then the yellow dash DSC and “Brake” light will come on and stay on until I shut the car off.

They usually reset. Occasionally, when driving, the yellow DSC light will flash few times before turning solid or going out.

The code reader showed the following three codes;

5E4F Continuous Control
5E3C Rotation Rate Signal
5E38 Rotation Rate Sensor Signal

I have already changed the Blue labeled YAW Sensor under the driver side carpet.

That change got the light to go out that used to be on all the time.

Should I change the wheel sensor next? If so, which side? or is it something else?

Please let me know what you think.

Thank you in advance.