Yea, that's why I went to a BMW service center and the service manager test drove it for a while. He was saying how he was pushing 80 and didn't feel anything abnormal. I had it inspected before I left and they didn't find anything unusual and I had the nearby BMW service department look at it afterwards so not really sure what else I could or should do.
Pennsylvania roads are super shitty though so I definitely could see that being the cause along with me driving 9+ hours in the same day and being dead tired.