Vehicle has 36,300 miles. Engine stalled twice when shifting into reverse, MID displayed ‘BCW On, Check System.’ Continued driving home, vehicle experiences power loss (rpms drop to ~500) and electrical system sputters and sparking noises can be heard in the cabin momentarily when turning left or steering left for curves at speeds over ~20mph. Checked BCW sensor location in rear bumper for obstructions — vehicle is clean.