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Mine makes a similar noise as well. xdrive 5.0.
See if it gets better or worse with the AC on / off. On mine the noise is increased with the AC on, but doesn't entirely go away when the air is off. I'm thinking it might be the alternator, or bearings in it, or possible an idler pulley.
You could also turn the wheels back and forth in the driveway and see if it's worse / same etc.
If it makes the same noises in P / N then my first belief would be one the engine accessories, like alternator.
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