Blown out control arm bushing
Ok, these things go out every 30K miles or so b/c they were designed poorly. (My wife has one). The control arm bushings are pressed in. You will need to have the old one pressed out, and the new one pressed in. I ended up going to www.bimmerworld.com, and getting the poly urethane bushings. They don't wear out like the stock ones, and help the handling a bit. It wasn't that hard to replace them.
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