Sounds like the valves are ticking. This is common on the S50 engine in the e36 M3. I autocross with several e36Ms and this ticking develops after their runs while idling. Usually, the owners just rev their engines for 10 to 20 seconds and it goes away. Maybe the top of the engine isn't getting enough oil?
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1991 E30 M3/Brilliantrot
2017 F80 M3/AW
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