I have a 2001 X5 with 90,000 miles. I have an X5 and every time I press on the brakes the brakes jerk back and forth, I feel the brake pedal under my foot pumping and vibrating too. The front tires jerks back and forth also when I hit the brakes and you can see the front wheels move when you drive slow and apply the brakes lightly. The ABS, brake and DSC lights come on and stay on sometimes. Once these lights come on the car no longer jerks when I step on the brakes. I changed both control arms bushing because they were much worn and one was damaged, the problem was solved for a while but it started happening again. Right now I donít know what to do, do I change the bushings again, does my X5 need an alignment or I have to change something else?