I have had this problem off and on in almost three years. First it was warped front discs, had them skimmed which gave a marked improvement. About 12 months later same problem, this time discs and pads replaced, again marked improvement. Recently feedback on brake pedal and steering gave the impression of brake problem again which really pi**ed me off. The car has passed its MOT with no problem. I went back to my mechanic conveying my frustration, he identified a problem with front upper suspension arm, I told him to replace both n/s and o/s. What a difference the braking and steering is so smooth, like a new car 😊 thought i would share in case anyone else has a similar problem.

These arms are common wear parts on the XF