My car does the same thing, Its not all that noticable or loud, but i do hear it under the same conditions as you do. My resolution may have been unique, It turned out I had a restricted exhaust, the cat was shot all to hell and back, and the pipes, (down pipes going to the cat, and the pipes from the cat to where the ACS exhaust pipes start) looked as if a person who knew nothing about exhaust put it on, there was 3 diffrernt size pipes from 2.5 inch down to 1.5, they welded in the gaps between pipes so they fit- very restricted exhaust, had all that crap replaced, I do not think that the popping sound is a bad thing, i still get it when I am (for example) cruzing at 3500 rpms, I take my foot off of the gas pedal and let the car slow down while still in gear, the popping occurs right when i take my foot off of the pedal-
backpressure?

used
i stress over strange sounds from my ride too,
-Ben