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+1 for replacing the Rear Sub Frame Bushings to correct this. Or at least trying the inserts.
The consensus seems to be that when these cars first came out, the 1st-gen run-flat tires were quite stiff, and to compensate BMW chose a softer RSFB material. So with better, softer tires nowadays (especially non-runflat) the whole rear end is too squishy/soft. Mine certainly was awful, and new RSFB's 100% cured that. I went with the 2-piece Whiteline poly's.
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