I have had this lately, I first noticed it when rear has passed over speed bump and seemed to come from nearside. I have heard it 3 times since and usually on uneven surfaces. Does sound exactly like the exhaust is knocking underneath but will definitely take mine in to get it checked.
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Current Car: F85 X5M
Previous cars: F15 X5 40d, F90 M5, Audi S3 8V; F80 M3 CP; F30 335d
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