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It is not uncommon for the SZL steering angle sensor to fail on this model BMW. This signal is sent to other control units so they also know the steering angle. You will need to have the steering angle sensor replaced to correct this failure. It will need to be programmed and coded to the vehicle upon replacement so this may be a dealer only install unless you know a good independent shop that specializes in BMW's.
The signals for the shift lever also go through the SZL so it would make sense that the transmission park signal could be effected.
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It would depend on what fault codes you are getting. The steering wheel airbag unit wiring is connected to the SZL so often you can have an airbag light and fault for the driver airbag when the SZL is faulty. The message you see is just generic for seatbelt restraint. The warning you see can be directly related.
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Thanks for the update. It looks like you have two separate issues here. The SGM module is located below the glove box. I hate to say that this module is even more common to fail than the SZL but they are not related to each other. The SGM will also need to be programmed upon replacement.