Sharp metallic cling when changing D-R-D is the first sign of worn out or dry CV joint. Like said have someone changing the gears and hear for yourself from beneath where the sound originates.

__________________
E39 530dA -02 M-Sport Messing metallic
E53 X5 3.0dA -06 Sport Stratus grey
E70 X5 40d -12 M-Sport Space grey