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I have a very similar story to yours, same mileage and diff started groaning recently. I've done all the tight circles, round and round and back the other way round and round making myself dizzy and it didn't seem to improve it much if at all. But recently went on a few longer drives to get it properly warm and then did some tight circles and it was blissful silence!! My respected local BM shop guy has an E46 M3 and he says oh yeah they can make a little noise until they warm up. Hopefully it doesn't get worse because it's not a pleasant sound! Maybe we need to go on longer drives occasionally. Try getting it warm then do some cycle work.
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