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It is almost certainly the PSP. When it is whirring, but car switched off, has it still got powered steering? This has come a a few times recently. Happened to a friend of mine. None of these have involved smoke and fire but when the internals and the circuit board inside the PSP get overwhelmed with graphite dust it causes some really bizarre and intermitent symptoms.
I says 'come up recently' meaning on the Facebook R53 Owners Club. With over 5,000 members, all with R53s, it is as you'd imagine, wholly focussed on 'our' cars. There is a lot of knowledge there. I now only tend to pop on here now and again to see what's going on. Whereas you can see (box on left) I was a fairly regular poster.
And there are numbers of Aussie members on there. I know Milpol on here. Problem for you in Oz are from reading many posts: it is massive, there aren't many R53s, access to parts and goodies is difficult, postage from here or US is expensive.
Any way, I think it is likely your PSP. Some people with top DIY skills do dismantle them and clean all the dust out. And try the R53 Owners Club.
https://www.facebook.com/groups/154538898666141/
 

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Good news. As you have ordered a replacement, if you are reasonably spannery, why don't you try taking it apart to have a look at the circuit board and electronics, see what is going on? If you clean it out it may well come back to life. For us to get them refurbished here in the UK, exchange, it is about £170. So if yours is fixable, it is worth money used. Heavy little devils to ship though.
 
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