Do you have an OBD scanner? One with BMW code diagnostics like Foxwell 510 will pay for itself. 4x4 light may well be the SAS (steering angle sensor) on its last legs. Check what I did to fix mine:
https://xoutpost.com/bmw-sav-forums/...r-fix-0-a.html
Rear camber is usually the rose joints in the lower arm. To check, you need to unload the rear spring - easy with air springs, not so easy with steel coils.
Shudder during stopping is probably the tension arm bushings.
Do you know how old the water pump, thermostat and main coolant hoses are? Usually a good idea to replace these along with the expansion tank as a preventive measure.
Get 'er up in the air and check for loose stuff. And have fun.