I've had that vibrating/pulsating feeling through the steering wheel when not moving and turning the wheel with one of my Rover P6's.
Turned out it was (I think) the main hose from pump to box.
Not leaking or anything, just old and 'soft'(soft from age).
I got one made up at Enzed, and it stopped the vibraty/pulsating, but then made loud groaning noises when steering.
Years back the Enzed cost about $20 or so for whatever hydraulic hose they used with the original fittings.
Finally ended up getting a proper Rover hose, cost a fortune by comparison(back in the 80's) .. something like $250 or more, but steering back to normal.
Can't remember if it pulsated at low speed in a turn tho.
So if you get a vibraton when not moving, check fluid/hoses/pump and box itself .. does it make abnormal noises?
Could also be dry joints maybe(in the rod ends).
Arthur.
All these discos are giving me a heart attack!
'99 D1 300Tdi Auto ( now sold :( )
'03 D2 Td5 Auto
'03 D2a Td5 Auto
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