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I have a 525tds with 156000 on the clock and had similar symptoms until I changed the upper track control arms & bushes. The bushes had previously been classed OK by a BMW mechanic, I did'nt believe this and changed them anyway with complete cure of the knocks etc.. The bush rubber has only a very small movement before metal to metal contact occurs and it is therefore difficult to tell when they are due for replacement. Another possibility is the steering box requires adjustment.
Hope this is helpful,
Cheers
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