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On my 745, this was due to everything being worn: ball joints, struts, and control arm bushings. After replacing those it was a DRAMATIC difference. Expect a solid weekend of work if you haven't done it before, and invest in the proper tools. It's more rewarding than paying someone else to do it and you'll have to tools to do it again.
My rotors are warped, and my steering shimmies when braking, but I will get around to new brakes soon. (The previous owner's mechanic turned the rotors, and also EVERY single tire guy used an impact wrench, even when I told them I wanted it hand-torqued!!!)
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'92 745 B230F
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