Brake Warning Light Stays On While Driving: What Are the CAUSES and How to Fix It?

I have the brake warning light that stays on or intermittently comes on even though the brakes are functioning properly and the handbrake is released.
First, I check for any potential fault codes.
Next, I verify the brake fluid level and the proper functioning of the reservoir float.
Then, I replace the brake pad wear sensors as I suspect a possible loose connection.
After that, the light no longer comes on intermittently on my BMW 5 Series E39.

0:00 Intro
1:05 Trouble code read
1:47 Test of the float contact of brake fluid reservoir
3:48 Brake pad wear indicator behaviour
5:13 Wear sensor remplacement
8:04 Conclusion

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