a notchy u joint can cause such vibration. If it had a notchy feel in the center position it might just be a toasted U joint.

They are greased at the factory and there is no way to regrease them.

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2012 BMW X5 (Beef + Granite suspension model)

1995 E300D - The original humming machine (consumed by Flood 2017)
2000 E320 - The evolution (consumed by flood 2017)