I was planning to take the RS6 for a spirited drive on July 1st around the Quabbin Reservoir in MA, and as I turned the car on a loud tapping noise was happening on the passenger side. I opened the hood/bonnet and recorded the sound as available below. I pulled the car back into the parking spot and decided to take a different car instead.

Worries me that it may be valve engine knocking but wanted to see what others thought. No CEL light is on, and I have not yet had the chance to check using VAGCOM.
Ok to drive to dealer to check, or should I have it towed instead?

Short video:
http://www.htms.org/img/072017/EngineBay.mov