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Car "settles" onto brakes

I've noticed a subtle but consistent behavior in my MS that puzzles me:

I see this behavior when I come to a stop while pointed up hill (a traffic light, for example). I bring the car to a complete stop using the brake pedal, and the hill-hold feature engages. I then take my foot off the pedal, and the car remains with the brake on.

A couple of seconds later, the car will settle back a fraction of an inch, sometimes accompanied by a soft sound from the brakes. The closest analogy that I can think of is putting an ICE into park, then taking my foot off the brake and feeling the car settle onto the parking pawl.

I speculate--based on nothing--that the hill-hold is switching over to the parking brake calipers and releasing the main calipers. But that's completely a guess. Anybody have a more informed idea?
 

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