On the motorway...

[Zedhed]

....today doing about 70mph and accelerated hard then trans fail safe again.it seemed like it tried to change down 2 gears before hand.by the way still got the 4x4 light on so if this has anything to do with it i dont know. :-[

[X5Sport]

Probably worth getting an error code readout done to see what is holding the light on, and if anything new is now apparent after the failsafe warning.  The box will try to lock in 3rd or 5th depending upon speed and box type.

It could be the steering angle sensor, tyres, bad box, transfer box  as the warning is linked to a number of systems including the engine (can't remember the actual triggers in that but EGR is one I think), so needs a process of elimination to point you into the right area.

[Zedhed]

Angle sensor has been replaced,no engine codes,but my scanner has bought up the electronic brake force distribution and interference with EGS signal if you could shed any light on that. ::)

[X5Sport]

EGS is the Transmission Controller.  You'll need to search against the actual fault code