vibrating steering wheel, and feels like tires are going to fall off

[rcheatham1]

(2004 X5 4.4-65,000miles) When driving for about 10-15minutes the steering wheel starts to vibrate out of control and the wheels feel and sound like they are about to fall off. I went to the dealer to have this problem checked out, and they said the problem was either the stuck caliper on the passenger side or the a hole located in the cv boot in which all of the oil had leaked out. They said I should have both fixed. Has anyone else experience such a thing, I whould like to know so that I can try to choose the right repair in an effort to save me some cash.