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It could just be the handbrake cable hitting the drive shaft which a lot of people have experienced. Look up threads/videos and compare the noise.
Is it throwing any codes? I would expect there to be a code if you were getting grinding in the transmission and the fact that it drives and shifts fine without going into limp also points to an issue that is not transmission related
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2019 x5 50i - current
2016 340i THP stage 2 - gone but not forgotten.
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