No, it won't hurt it at all. It's not only normal from my knowledge, but triumph themselves acknowledged it in an article by citing how it pops and trying to make it sound like thats a cool thing. I guess they were just trying to make people think it's cool before they started complaining about it.
It's 100% normal tho. You CAN get it to pop less at times like i said depending on the state of tune, but it's hard to keep it there since the bike is always adapting, not to mention being messed with by us tinkerers who can't seem to leave well enough alone.