Most, if not all, have that issue on cold start. I think it has to do with the emission related air injection pump. This operates on cold start to help reduce emissions. It goes away after a minute.
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1987 Buick Grand National, 2009 BMW E90 M3, 2016 Audi S6, 2018 MB E63S AMG, currently in 2021 M5 Competition
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