I had the same issue on my 2010 v6 M6 I brought it to the dealer had the service manager take a ride with me duplicated the sound, they took it in ordered new 1st and 2nd syncronizers and now it doesnt do it at all. Plus after that issue I called customer service and complained asked them what they would do for me so they sent me a 60,000 mile 4 year warranty on top of my original warranty.
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