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Thunk Noise at Driver's Footwell 2019 AWD

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It kinda sounds like a piece of gravel hitting in the wheel well but there is no gravel. It happens at random phases of driving; acceleration, deceleration and just cruising along. I can feel it in the floor, mostly with my left foot. It occurs on average about once a day and I drive a 100+ miles a day. Car has 5000 miles on it and it has done this since new. Any thoughts?