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Groan from Rear After Hold Mode

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Hey guys, I recently noticed that after coming to a stop on an incline or decline, there's a brief groan sound coming from the rear after the car comes stops and hold mode engages. In the same scenario, if I manually depress the brake pedal to hold the car at a stop instead, there isn't a groan, but as I release the brake pedal to enter hold mode, the groan happens though the car hasn't noticeably moved. It doesn't happen on normal driving at all, so I'm guessing this is just my brakes? It sounds like creep groan on gas cars. I'm gonna get Tesla to look at it eventually, but I wanna see if anyone else experienced this before.

Video (there's the brake pedal click at 0:11 for hold mode followed by the groan):