I had a shop look at it a few weeks ago. They recommended new front and rear driveshafts.

Will check for visible issues first as someone mentioned. If I can solve the problem by replacing a few smaller parts then why not.

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2002 X5 4.6is - Titanium Silver / Black Alcantara - Dinan Stage 2 - Bilstein/Eibach - Brembo BBK ----SOLD---
1993 318i - Brilliantrot / Tan - bone stock daily driver