I have this problem from time to time in my 535i. It's much more pronounced than what marinos6181's youtube video suggests - and it vibrates the steering wheel a little. This only happens when making a sharp turn into a parking space (at low speed).
My dealer was able to replicate but suggested it's due to front tire wear (sounds like BS). My "fix" is basically to avoid turning my steering wheel all the way to the left or right.
2008 535i | Black/Black | SAT | SP | PP | Comfort Access | Nav | Heated Seats | L7 | iPod/USB