You probably need new suspension links in the rear. You have similar mileage as mine and I just did the job. If want to be fussy find the most worn link, probably the top or forward one. But for the money you can buy a whole aftermarket set for pretty cheap. So I replaced 4 per side, and put new shocks in while I was at it.

Amazing difference, now my car has a tight ass and no steering wander back there.

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Cheers!
Scott McPhee

1987 300D