Not sure if it's normal, but under hard acceleration in Sport, my 9-5 Griffin V6 twitches distinctly.
Like torque steer but side to side. Could this be worn front subframe bushes ? Steering ball joints etc are all fine.
51,000 miles, Avon ZV5s with about 3mm tread left
When my 9-5 did this, I found that the rear shock absorbers were worn out. Once off the car there was two inches of play in them. But not sign of any leakage. The 9-5 is notorious for wearing our its rear shocks.
But any serious wear in any of the bushes could cause this.