Depends on when you're experiencing the 'shimmy'. I would often feel it when making a left turn (above 20mph) or when accelerating quickly on certain roads.
I took it in for service on this 4 times. After a lot of torquing, lubrication, sway bar and wheel bearing replacements - the issue was resolved. Not only was it resolved, the suspension and driving experience was significantly better than the day I got it. I felt bad that I drove it (70D) that way for over 30k miles; thinking it was 'normal'.