I am guessing your control arm bushings are shot. I had this issue on my 745 with 80K on it and it did that same thing when braking. It was just the driver side, but I replaced both.

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2002 X5 4.6 Sold
Dinan CAI, TB, Mass Air, Stage 4 engine & tranny software, X-pipe
2004 745Li
1997 Ford Mustang Cobra Vert
1985 Mazda RX-7
13B-REW single turbo 60-1, Haltech, Meth injection, MSD Ignition, and much more
2008 Mazda Speed3 Hypertech Tune