BMW F20 Steering Wheel Vibrating Issue

fHas somebody had similar issue on their BMW F20 or similar. I cannot figure out what is the problem. It only vibrates when it's standstill and the steering rack is on load. Like it has a problem with controling the motor and sensor feedback circuit, it's somehow oscilating. Maybe worn gears or something?

[@hanneslofgren4835]

did you find the issue? my f01 740d is doing the same thing.