Has anyone experienced any "jerky, clunky" motion from the steering wheel moving into postion upon startup?

I had a similar issue with my e39 and they eventually replaced the worm gear that drives it.

I feel a similar intermittent slight "clunk" when turning at very slow speeds, like in parking lots, backing out the driveway, etc. I can feel it in the steering wheel.

I'm leary of taking it in and have the software upgraded, but also don't want to damage something either.............