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There may be some confusion in what is called "limp mode".
There are two levels of Service Engine Soon (also called Check Engine Light): yellow light indicating a need for repair to correct an engine problem causing excess pollution or other minor problem. Red to indicate a more serious problem with the engine (usually accompanied with rough running/missing.)
The 2nd condition often is accompanied with a "limp" mode, which reduces power and can force you to stop the car and get a tow.
Modern BMW diesels with the BlueTec pollution control hardware often (!!!) set the yellow SES because the system detected that more NOx than spec was being emitted. This check occurs every DPF regeneration cycle (about every tankful/500 miles). If it goes out at the next regeneration, (has happened to my 335d 5-6 times), you're good to go (although be warned eventually it will stay on - these systems are so fragile.)
The salesman is full of it. SES is not supposed to happen in the normal operation of the vehicle. There is no way the salesman could tell you without attaching an OBD reader to the car, that the problem could be ignored.
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