Sounds like a possible problem with your control arm bushings. A simple yet many times effective check for this may to have your friend drive your car very slowly (2-3 mph) and slam the brakes. While he does this in front of you, you watch the front wheel to see if it shakes at all.
If this doesn't work then take it ot your mechanic for a simple inspection. He/she should be able to source the problem.
1995 BMW M3 Turbo - Dakar/Black