Since pre-iBooster cars do not make this ticking noise, I don't feel that it's a "normal" part of the Model S experience. The iBooster is an implementation detail and should be revisited if it detracts from that experience. I do hope you're right about the possibility of fixing this in software; if it's a software-driven polling interval, then perhaps it doesn't need to poll nearly as often, or can be event-driven. Possibly physical noise insulation is needed as well.
But it's not a roaring Ferrari ICE, so that's a straw man. This is a Tesla Model S, the most advanced electric vehicle on the market, and one that's expected not to compromise on the luxury sedan experience.