You need to be more specific: AP or non-AP? Model S or X? Prod date?
I ask as our March '13 Production MS has a "clack" sound from the brake pedal linkage(s) that's grossly inappropriate for a six-figure car, but so did our mid-year '13 as well. Let's call it a "design defect."
Our latest, a July '15 70D has the new Bosch brake system and, likely, a different linkage--no "clack" sound.
The pivot point appeared to me to be up behind a plastic panel. I tried squirting lube up in there, but didn't hit anything. Did you remove the panel for access? If so, how much trouble was it to reinstall?