pump noise from passenger side rear ? ? ?

[E70x5]

So i start the x5 this morning and get this wierd noise from the rear of the truck. It sounds like its the self-leveling pump going in and out. Usually its on for about 20 seconds and then its gone. But with the sound it sounds like the pump is not able finish pumping and its struggling to pump. The noise goes away if I put it in neutral, but gets worse if i put it in reverse. After driving around for a while it may go away, but sometimes when I'm stopped at a light i can hear it trying to pump again.