Quick update on this topic - Installed the new starter and it appears to have fixed my startup noise. Have not been able to reproduce that sound.
Good to know about lubricating the bendix gear, but ultimately decided to replace the starter for peace of mind. Old unit appeared to be original, and I didn't want to do this procedure again. Thanks for the help!
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2003 X5 4.4
2011 328i xdrive
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