If they have never been done 35k is overdue for valve clearance adjustment. Also do you have a knocking coming from the RHS of your crankcase? It sounds like its knocking in the video you may also have a loose crankshaft nut if that is the case.

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Now have a 2017 S1000XR Sport SE

2006 XT660X - Cat D write off due to someone pulling out on me - Pipewerx carbon fibre exhausts - Snorkel removed and airbox drilled - DNA stage 1 + 2 air filters - Kevs fuel controller mod - Scottoiler V system - Oxford heated grips - HEL braided brake hoses - Wilbers 540 rear shock - Brembo brake pads - AFAM chain and sprockets - Michelin Pilot Street Radial's - Denali DX Xtreme dual intensity spotlights