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wow, rocking back and forth would freak me out - I'm so anal that I'm about to take my dash apart so I can stop a small rattle.
Anyway, if the back and forth you are talking about is the whole car settling when you come to a stop I would check shocks as others have stated and if your X came with air suspension I would check and make sure it is set correctly.
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01' 4.4 Sport - Dec 2000 build
01.5' - Audi B5 S4
97' - FZJ 80 Land Cruiser
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