Finally this morning I think I found the cause. I had just started the car to take one of my sons to school, and he announced he had forgotten something, so ran back in to the house. I got out of the car and stood there fiddling with my phone, and suddenly the car chirped ! So not brakes, not suspension. My thoughts turned immediately to what is active on the car. Exhaust valve seemed likely. So I did the school run in Sport+. No chirping at all ! I did a bit more research and found comments on various forums (M140i/M240i) that it's a known issue. My car will be going in for a service early next year so I'll get them to take a look at it then. I can live with it for now, or just drive everywhere in Sport+

Anyway just posting this in case anyone else has a similar issue.