How long have you had your car?
My car did something similar, but I have the 8-speed. I had driven it for a thousand miles before the issue. I went to the store and when I got in my car to come home I got an error message saying something like “steering system failure, drive moderately”. I couldn’t switch between driving modes, use cruise control, and the rpm’s where limited even when using manual sport mode.
When I took it to the dealer they said that one of the control modules was not fully activated and that someone had “missed it” when they took delivery. Whether that is true or not I am not sure. The module had to do with DSC/DTC, not the actual steering of the car like implied by the message. They reset the fault, “finished” activating the module and I have not had a single issue since.
2013 F30 335i M Sport AW, HK Sound, Black Interior. 6 MT, M Performance Knob, 15% tint all around. OPTI COAT, M Performance Exhaust
Will be adding the PPK (if they ever make it)