As said, only recently heard of this occurring and rare. So to answer is it "normal"
The only thing I can see is the locking finger (pawl) on the Parking Gear may be sticking due to a weak release spring coupled with the oil creating a "in locked" position suction. So instead of the locking finger immediately following the operating lever inside the differential when releasing the Parking Gear, there is a slight delay due to the oil film between the Parking Gear and the locking finger holding the locking finger in place. And a possibly weak spring unable pull the locking finger free. When it releases, it then jumps and hits the internal operating lever for the parking lock (the noise you hear). It should really follow silently like a flat cam.
The reason for 30 seconds-ish is that it may take the locking finger that long to sink into the oil film in one of the Parking Gear slots and create a better temporary holding sealing of the locking finger to the Parking Gear.
If it is this sort of situation, I'd expect the effect to less pronounced or not at all as the gearbox oil gets hotter.
Is it problem if this? .... no, as the locking finger can be moved by the Parking Gear if its delayed as the operating lever is already out of the way.
May not be unique to the R as above,
Link.
Bottom line, gearbox would have to be replaced to rectify at the moment as 6 speed DSG (unlike the 7 spd) are a return item as whole and not to be worked upon in the dealership. "
Currently, no repairs can be made to gears and shafts"
C.
with the windows down.
