[Dmitry at Pelican Parts]

The P2096 code refers to your fuel mixture being too lean. I would address this issue first and see what difference it makes with the overall drive. If you're needing/going to replace the sensor, take a look at the link below to our site's DIY tech article on the procedure. Hope this helps and best of luck!

https://www.pelicanparts.com/BMW/techarticles/BMW-3-Series-E90/FUEL-Eccentric_Shaft_Position_Sensor_Replacing/FUEL-Eccentric_Shaft_Position_Sensor_Replacing.htm