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m235i owner here, I also get this occasionally and had it checked by my shop. They said everything is perfect but mentioned that some mounts/bushings are unusually soft in the car that could be causing too much deflection and flex. We were able to duplicate it several times and he also said if it were truly a problem then you would have performance issues and the problem would get worse over time. Neither have happened to me so it is what it is i guess.
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