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Feeling A/C compressor in the pedal

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It was hot today and all 5 us piled into our 7 seater 2017 Model X 100D - I turned the A/C to MAX for the front and the rear. The compressor kicked on BIG time and I could feel the vibration of the compressor in the accelerator and brake pedals - is this normal?

I noticed afterward that after driving slowly the steering wheel would vibrate from side to side (about 2 inches) while driving straight, and seemed to pull to the right. Not sure if those are related, but it thought it would be worth mentioning. It didn't start happening until the compressor kicked on 100%.