2004 X5, Rocks back and forth
 

My 2004 E53 rocks back and forth when it comes to a stop. Only for a like 2-3 seconds but its annoying.

Any idea on what part need to be changed or adjusted?

Welcome. And a bit more info would help. Which engine, how many miles, what year. What you have done to it thus far.

Year 2004

Engine 3.0

Mileage 150k

Thrust arms have been changed and lower control arms in the front.

Might be time for new shocks.

Is this new to your e53 or are you new to the e53...reason is there is normally some VERY minor "rocking" back and forth on stop. Not sure it lasts more than a second or so and is very slight.

It actually caught me out when I bought my 2005 X5 4.4 new 7 years ago. I brought it to the attention of my dealer who maintained it was normal. Sure enough, others have mentioned it on this forum and that condition remains on my vehicle despite 7 years and most front suspension parts being changed out for other reasons. I don't even notice it any more...

I just replaced both front and rear shocks, rear control arms, rear bushing and the car still rocks like a cradle.
Can't figure out the problem.

When does it do this? Standing idle, acceleration, stopping?

When coming to a complete stop, the car rocks back and forth.

I call rough downshift coupled with blown engine mounts.

Mounts would do that ...had that on my other car and that was annoying..change mounts and fixed the problem...