Is BMW obligated to do recalls on a car out of warranty? Here's the background to my question.

My 1999 2.8 Coupe has been out of warranty for a while. Before going out, however, I had asked the dealer to look at a kind of knock that happens when the clutch engages, or if I let up on the accelerator. Under the car, you can turn the driveshaft pretty easily, and it will actually stop quite suddenly, with a knock, in either direction. Other Z3's seem to stop w/out the knock.

So, since I just found that my subframe is pulling away from the floor of the coupe, I went out to the NHTSA site to see how many complaints have been submitted. To my surprise, I found none. Not even the one that I submitted some time ago.

Anyway, I did find a recall notice for the differential on 1999 Z3's. The recall number is 99V272000. It reads:

Summary:
VEHICLE DESCRIPTION: PASSENGER VEHICLES. THE REAR AXLE DIFFERENTIAL MAY CONTAIN RING GEAR BOLTS THAT WERE INCORRECTLY TORQUED DURING ASSEMBLY. THE BOLT OR BOLTS COULD LOOSEN LEADING TO NOISE FROM THE DIFFERENTIAL.
Consequence:
THE BOLT OR BOLTS COULD LOOSEN LEADING TO NOISE FROM THE DIFFERENTIAL AND IF A BOLT WERE TO COMPLETELY WORK LOOSE FROM ITS MOUNT, LOCKUP OF THE REAR AXLE COULD OCCUR.
Remedy:
DEALERS WILL INSPECT THE VEHICLE'S DIFFERENTIAL AND IF INVOLVED, WILL REPLACE IT.
Notes:
OWNER NOTIFICATION BEGAN DECEMBER 10, 1999. OWNERS WHO TAKE THEIR VEHICLES TO AN AUTHORIZED DEALER ON AN AGREED UPON SERVICE DATE AND DO NOT RECEIVE THE FREE REMEDY WITHIN A REASONABLE TIME SHOULD CONTACT BMW AT 1-800-831-1117. ALSO CONTACT THE NATIONAL HIGHWAY TRAFFIC SAFETY ADMINISTRATION'S AUTO SAFETY HOTLINE AT 1-888-DASH-2-DOT (1-888-327-4236).

Thanks all!