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Clicking / popping sound from pedal in Model 3 Highland (video)

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I've been driving a Tesla Model 3 Highland for two weeks now, and I'm really satisfied with it. It's a joy to drive this car! However, there's a small thing that bothers me: a sound that seems to be coming from either the brake pedal or the accelerator pedal. This sound, a sort of popping or clicking noise, can also be felt as a slight click in the accelerator pedal. It only occurs when I accelerate from a complete stop. I suspect it might have something to do with the automatic handbrake.

If I knew this sound was normal, it probably wouldn't bother me as much. But I have my doubts.

Can someone explain what this is exactly and whether it's normal?

I've also made a video of it: