My X5 doesnt feel stable..
 

It feels kind of loose when I am driving fast. Like it pushes itself to the right.

I almost got in an accident going 45mph trying to pass some cars. The wheels all of a sudden dragged to the right it felt.

I dont think this is related but if I am going 40mph and I slam my brakes the car is very hard to keep straight.

perhaps u have a wheel bent or out of alignment?

Sounds like your alignment is way off

Warped rotor?

Have the lower control arms checked out!