2012 X5 xDrive 40d - Judder in Parking on wheel turn

[afsar]

New joiner to the forum so please bear with me if I don't sound sensible with BMW 4x4. Have no experience of 4x4 whatsoever. However I do have fair bit of experience in E60 and E8x chassis particularly in coding and mods.

Recently bought 2012 xDrive 40d. 7 seat option, many other gadgets.

In parking when I turn my wheel to either side and gas it slightly I feel a bit of shake, judder, as in one front wheel, which is diagonal due to steering turn is being pushed forward or reverse, instead of following its directed course of turn. Straight moving is not a problem, it is only in turn. Is this normal? My E60 535d doesn't do it, but that is only rwd.

Car is still under warranty, is this something I need dealer to look at? I don't want to waste time at dealer if this is normal.