I agree either alignment and or re balance, otherwise maybe your rotors ( i know u changed them ) after that what jst2878 said prob your bushing or ball joints.

Start with the easiet and proceed. I had a similar problem and was worried only to find out my rims were outta spec (balance wise). Goodluck and Update us.

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2006 BMW X5 (4.4i) N62

MY BMW X5... No matter how I disguise it... it's heritage keeps showing through!