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I can also duplicate the noise stopped with a "hot engine " ----- selector in gear, left foot on the brake, right foot on accelerator & slowly taking it up to 1.5k RPM & hold it there. I suspect it is main bearing clearance out of spec combined with a thin wall aluminum block that is telescoping the sound into cabin . One of these days I'm going to drop the small oil pan & look for "metal particles " that will tell the story .
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I agree with Ray. My '01 E320 wagon has had the same noise since I acquired it with 58K miles. No noise when cold but when warm it has the dull thud of a loose main bearing. Also, after the car is thoroughly warmed up when I restart the car (all noise makers turned off) after 30 minutes or so of having been shut off I can hear and feel the knock for a second or two until the oil pressure has built up. I had the oil analyzed at one point (around 80K miles) and no abnormalities were discovered. At 106K miles the noise has not worsened. My guess is one main bearing journal was set up at the factory slightly loose causing the noise. Based on my experience with this car, I don't believe it will cause a problem with engine longevity.
Mark