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The sound you are hearing is normal but fixable. You also may hear it when first starting the car and shifting to N, D, or R.
Using ISTA-D, you must run a few ABL service functions (gearbox adaptation procedure, reset all adaptations [including incremental wheel]). This will make the gearbox relearn itself and will feel very solid and crispy.
The dealership should be able to do this for you. If out of warranty, it's very simple to do yourself.
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