One thing to add, I noticed that these trucks are pretty sensitive to the condition of their bushings/joints.

Just a bit of deterioration is enough to have a noticeable effect on driving dynamics IME.

I had a shaking sometimes on highway braking and replacing the front transverse arm bushings fixed it. Visual inspection showed they were intact but had some micro cracks. Perfectly serviceable on other cars I've had, but caused problems in this case.

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04 X5 3.0i auto
03 X5 4.6is