I just experienced the same problem, steering unexpectedly felt heavy and pulling slightly to the left, seemed quite variable, although at maneuvering speed it seemed normal, just at speeds over about 5 mph it had issues. @JasonInRVA mentioned in his video that one of the rear parking sensors was showing phantom objects, same with mine - don't know if this is related or just a coincidence. I know that the steering torque and angle sensors in some cars can go out of calibration and that steering lock-to-lock will sometimes make them re-learn limits and center positioning (at least this is the case with Audi and VW cars with electrically assisted steering - not sure if it applies to BMWs).
Had this happen today. Pulling right like a flat tire and steering was heavy and would not return to center. After coming back from the store and restarting the car its back to normal. Odd that no errors pop up.
Well at this point you're outside of warranty, unless you have extended coverage.
When I experienced it, I was a relatively new owner. It happened once, then not again before I brought it in.
It's not a recall, but I'd take it in, explain what happened, that it felt dangerous or whatever, and (assuming this isn't a covered "repair"), tell them that you posted about it, you know now there was a software update in November 2019 that addressed the issue, that you don't know whether your car has been updated, and that you legitimately believe it's a safety issue. Perhaps if they charge you, you can split the cost, or perhaps they can check your software version as a courtesy.
No matter what though I'd make sure that update is installed, even if full price.
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Thank you for your knowledge and suggestion. I made a service appointment, it is in 3 weeks (earliest available). I bought it from Carmax and it's within its 90 day warranty from them so it will be covered. I will let you all know what they say.
Sorry for the late response, either the site was down or other times I had trouble logging in.
Took in to Carmax (under their 90 day warranty) and they could not replicate or find the issue. Carmax handed it off to BMW for a few days. BMW said they could not replicate the issue either, they checked and no codes came up or found anything wrong in their inspection.