While the bushings may feel ok with the hand, take a small pry bar and try to move them around.

the shimmy when lightly braking is caused by worn thrust arm bushings about 90% of the time. If it's deposits on the rotors it can usually be felt at all speeds, the car will also stop choppy when coming to a slow stop.

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Current Bimmer
2004 X5 4.4i Sterling Grey Sport/Premium

Past Bimmers
1991 318I Alpine White
1995 740I Alpine White
1991 525I Schwartz
1998 323IS Scwartz
2004 330CI Cabrio Titanium Silver Metallic
1995 540I Schwartz
2000 Z4 3.0 Titanium Silver
2000 330ci Coupe Titanium Silver