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Here I am, years later and dollars short...
Our 2008 328i has the shudder in the steering at v low speeds, I just had it this morning when reversing into a parking spot, prompting me to search here.
Data points - it's been doing the Exact Same Thing since I can remember, which may or may not be since it was new. I've had zero other issues with the steering system, so if it's a faulty rack or something, it's loading forever. Although it's a '08, we only have ~80k on it...
I doubt it's a belt tensioner, I replaced it myself a few yrs ago and it had no effect. Never flushed the fluid, but according to this thread it won't help...
My memory isn't great but the above is my experience as best as I can remember it. It's my wife's car so I don't drive it every day. I'm a little less in tune with it.
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