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How do I cure a tapping sound in cold weather start ups?. on 2006 Hyundai Azera

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In cold weather when the temperature is at the freezing mark or below and the engine is started it sounds normal. As soon as the transmission is engaged there is a tapping sound that disappears as the engine warms up. If the engine is allowed to run for a few minutes after starting from cold and before the transmission is engaged the tapping sound does not appear.
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Have experienced the same - utilizing synthetic oil which appears to be reducing frequency. LeslieF: Have you identified the source and a fix?