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I had the same thing on my 2015 435i. Started becoming noticeable about 10k miles I reckon.
I had read about the steering rack issue on here already.
However, despite mentioning this and BMW having had a look at it on more than one occassion and claimed they couldn't find anything.
Continued to piss me off until I changed the car after 3 years, and to be honest was a real gripe (third world problems, I know). it was just bloody embarrasing having a new motor that had a loud clattering/rattling on uneven surfaces that you could hear with the windows open.
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