There are no errors in FMI but it showed up in FFR 03250. And in GDK / PDF there are several of them
Buddy FMI are not bugs but abbreviations and mean Failure Mode Identifier serwis_gh
gave several options of the FMI type and so to each error code FMI is added.
The error you give from the FFR is the same as the FMI ... but since you have a computer, as I wrote earlier, enter the FFR. See the states of comfort shift switches cs1 and cs2 (change of status with the grip) the grip can be measured with a multimeter.
As for the GDK / PDF vulnerabilities, please provide everyone with information whether the code is active or not and this is also important.
NOx heating refers to the NOx sensor itself (internal structure)
Buddy, if you do not cover the above things with all due respect but leave it to the electronics engineer and deal with the mechanics (according to specialization) you will save time unless you want to learn but it will take a lot of time and I do not write it maliciously.