It's a 9 year old car and the camshaft is probably worn. If the ticking sound is coming from the top of the engine eg. under the rocker cover, then that will probably be the problem. Sometimes, because of the hydraulic tappets, when the engine warms up, the ticking sound gets less or goes altogether.
It's an easy enough job to remove the rocker cover and the oil spray bar, soak it in petrol to clean it and re-assemble. Nine times out of ten you won't need a rocker cover gasket. They are made of rubber and are not under all that much pressure when fitted.
You will need a RIBE socket bit to remove the rocker cover bolts, size M7 I think.
That would give you peace of mind and you can decide if you need to take any action on the camshaft.