You have to have them cleared, when I installed my struts, I left my key in the ignition to release my steering wheel lock (so I can rotate the wheels during install) and unplugged the sensor, it immediately threw ABS warning among a bunch others, I just plugged in and cleared all my codes after plugging the wire back in and was good to go.

And I believe your going to need a BMW specific scanner to go this, a generic code reader won't clear airbag/ABS codes, unless it specifically states so and these are usually 2-3x more expensive.

You can try unplugging the battery and driving the car, it might self clear all the dash warnings, but the codes will still be stored.

And note when I say disconnect the sensor in the future, do it from the black box, don't actually unbolt the sensor from the wheel bearing and pull it out.