Rolling body
 

Yep. I have a '03 X5 4.4. I still have problems with body roll from side-to-side. That can be notified when I'm changing lanes and braking. Even if the road have minor bumps, the driving feels "shaky".

I have Continental UHP tires with Conti recommended pressures (2.4 front, 2.7 rear). 4 wheel alignment is done as well. Steering wheel seems to be very light. Any recommendations for the next actions?

Check suspension front and rear. Also check control arms.

change the struts !! over time they will wear , and not be as tight as they once used to be !!

get a sway bar kit , eibach makes one !!
get a strut tower bar , dinan makes one !!

all these options will greatly reduce body roll !!