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I've had that noise as well on my M3, as a matter of fact I heard it yesterday. Here's what I think. I had this noise as well in the last three Acuras (TL, TL-S, TSX V6) that I've had. When I took the first one to the dealer to ask about it I was told that it was normal if the car hadn't been driven for a few days. He explained that is was the anti-lock brake system pulsing the brakes on start up to make sure the pads are seated correctly and check for the proper funtioning of the braking system. The reason I heard it yesterday is because I haven't driven my car for a few days.
To me its completely normal and I don't think twice about it and its nothing to worry about.
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