Shakes or Wobbles problem
2002 BMW X5 6 cyl All Wheel Drive Automatic 95000 miles
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When accelerating semi-rapidly at close to highway and ad highway speeds I can feel a wobble. The effect is easier to reproduce when towing a trailer and accelerating. At a constant speed an at a low engine load there is no wobble.

There is no effect at lower speed. I can only feel it at higher speeds. I do not feel the effect every single time.

I can also feel it when going up a hill at highway speeds.

Check the thrust rod bushings for leakage and the tires for wear issues.