A tapping noise that starts out cold and goes away when warm is usually caused by a valve lifter inside the engine. The lifter may be worn/leaking down and will be noisy until it fills with oil pressure. You can try an oil additive ( Lucas Oil Additive ) available at most part stores works very well with noisy lifters. Another noise that can happen cold and go away when warm is an exhaust manifold leak. However, this is normally a ticking type sound rather than a tapping sound.
SOURCE: oxygen sensor problem on mitsubishi outlander 2004
If the car has a check engine light on you may want to have the code checked, as this may point you in a direction as to what is causing this issue.
It could also be a bad EGR valve if the vehicle surges.
Hope this helps you out,
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