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i got that error recently, autoleveling looks like working fine. Before i got this error i had left lamp blinking problem sometimes.

I replaced lamps, did not help.

Do these problems connected? What should i try to replace now.
 

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The lights on my 08 did the exact same thing. Over several months the winking and blinking of the driver's side Xenon got worse and worse. Finally, the leveling system started messing up pretty bad - up and down all over the place. The front leveling sensor got replaced, which fixed everything. I remember only one split-second blink in that headlight since the sensor was replaced and the leveling system started working correctly, and it's been several months, now.
 

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Yep, check the sensors located on both axles. They communicate with each other to set the headlamp height, if one goes tits up you get the warning light on the dash.
 
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