One of my to do items for the BMW was to change the control arms, as the wear in the bushes/ball joints was becoming very apparent.
The symptoms are basically wobbling / vibrating of the front end of the car, not just through the steering wheel but you could feel the whole car shaking from side to side. It started at just certain speeds on the motorway, about 50 - 60 mph, which then progressed into bad vibration under braking.
It all came to a head finally at the most inconvenient time (of course) when setting off to drive home for Christmas to visit family. It just started vibrating & wobbling at nearly all speeds and felt very unsafe. So had to limp home and use the Audi, I unfortunately, but fortunately, still have.