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I have a 2008 X5 3.0si with 117,000 miles. It runs great but has a dull constant rattle while driving. Almost sounds like a bad catalytic converter because it doesn't change much with speed or RPM and it can be heard if engine shakes a little while at idle.

Any characteristic problems with model associated with symptoms?
 

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It could just be a stone trapped around the exhaust system. Remove some panels underneath and look around.
 

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