This could potentially be a bad battery but I am going to replace it soon though, but when I turn the key to the run position but don't start it the Door lights flicker and sometimes the high beams come on. I can hear an audible clicking noise which I am going to guess is the relays flicking. I am wondering if anyone else has run into something similar and what fixed it.

 

Just recently.
bad alternator dropped the Battery down until it stalled.

Head lights were flickering.

Weird things happen with low battery.
I didn't measure the battery voltage when the car stalled, but when I charged it, the charger read 12V and 5% unloaded. The battery was a new battery though, so probably just a charge issue.

I charged the battery to 75% before hooking into the car with new alternator.

Battery charging was 13.8+ V

bmw and audi have troubles at 11.7V. I suspect the same for G35.