BMW E61 525D No Reverse Lights Issue

Hello,

We have a BMW e61 525D in the workshop.
Vehicle data:
BMW 525D
VIN: WBANJ51010B436503

Problem:
-No reverse lights when car is in R
-Reverse lights ON when applied directly from diagnostic machine
-Instrument cluster show all shifts P-R-N-D

Code Error on Light control unit: E519 no CAN message

Question:
Is there any switch in gear selector for the reverse lights? The guy from the parts say there are...
I don't believe the LCM broken or CAN fault in LCM as I can communicate via diagnostic, is it correct?

Any thoughts of what it could be?