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I've experienced this before and always thought it was the rear brakes. Seems to happen every time I back out and go to put it in drive after I wash the car or after some very spirited driving. I've always tacked it up to slight pad shift or brake dust or something. Happened on my s4 and mazdapseed6 too, but I might be experiencing a different noise than you.
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2019 x5 50i - current
2016 340i THP stage 2 - gone but not forgotten.
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