Transfer case coding on E70

[Launch]

Yes its possible

I managed to do the reset and calibration of the transfer case and i did SAS reset and VTG oil reset so there are no fault codes but my car still keeps doing the same thing ESP/DTC flashing when i accelerate or turn and if i pull of the connector off of the actuator then it runs fine. So what else can it be? So what else can it be? The gear in the motor is good i can hear the motor working clicking. Is the whole case in need of replacing?