Have the same sound as well. I am aware that the headlights do this to find its homing position when starting up, that way if you have a broken leveling sensor, like i coincidentally do right now, it is still able to keep the lights level.
My assumption is that the stepper motor tests the upper and lower limit
The leveling stepper motor is easily accessible via the bulb replacement hatch. Maybe a good idea to remove it and give it a quick check. Attached the relevant forum post here (which i coincidentally came across 6 hours ago) https://z4-forum.com/forum/viewtopic.php?t=94238