Jax,
FWIW, my 2006 3.0i has made a similar noise under pretty much the same circumstances you describe. It's happened ever since I bought the car 3 years ago, with 23,000 miles on it at the time. I agree that it seems to be coming from inside the dash, more towards the passenger side.
I've never tried to track it down. It doesn't sound "destructive," just odd.
Rick F.
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