I have this my 2022 Model Y LR. And I don't have "simulate brake regen when unavailable" activated.
I thought it's kind of normal since Tesla doesn't have the vacuum power assist like in ICE cars, probably here is the eclectic brake power assist.
I use "one pedal driving" most of the time and rarely touch the brake pedal, but when I do, on the initial press I feel this weird vibration.