My 240D went 530,000 miles or so before needing any joints or bushings replaced. The most common cause I've seen of this is shocks. Grab the center of the shock and shake. If there is any lateral play, replace them.

It could very well be that it needs other attention, but it's easy to check this first.

After that, if you have a safe way to raise the vehicle and leave the wheels hanging, you can then shake and pry to see if there any points that have slack.

Good luck,