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Moon, many have mentioned valve clatter which is heard mostly at idle.
Even though I hear almost no clatter, I asked BMW service about adjusting valves while they were checking camshaft on the recall, and they acted like valve adjustment is not necessary.
Valves can run tight and burn valves so clatter means some might be loose and not really much of a problem if others are not tight.
I'd get them to adjust next time you can take in, just to ease your mind.
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