Shudder when braking at speeds over 40-50mph

[PC88]

BMW E53 X5 2002 4.4 Sport
Hi All,

I'm getting a shudder or shaking sensation through the steering wheel when braking at speeds over 40-50 mph.

I have done some reading online and people are pointing at the control arm which I intended to replace anyway but there appears to be two different control arms and I'm unsure which is the one that it is likely to be that needs replacing 1st.

Also one control arm people seem to suggest breaks another ball joint and that needs replacing as well.

Any help would be appreciated.

Thanks
Paul