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Is it the parking brake or the auto hold? I notice something that sounds like what you're describing on a cold start, but I think that it is either the parking brake or the auto hold system, as I only hear it right when I start to accelerate for the first time, and only very briefly. It actually sounds a lot like the sound that my previous cars would make when the collision avoidance system engaged, which further makes me think that it is the auto hold system.
Good grief do we even know what ABS is on this forum? It’s been a long 30 years getting to 2022 I guess.

Every single time you start a modern car, as in since like 1995, the ABS makes a noise when you take off first thing.

Google 1988 Mercedes E300 ABS noise and maybe you can catch up.
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