Errr I'd never noticed to tell the truth! I do exactly what you do, and I've never really listened to what it does, I have to reverse off my drive rather than go forward. I'll listen next time 
If you put you seat belt on before start up or before moving to N to D or R do you still get the whirr from the handbrake motor?So you don't get a little whirr when you go from N to D or R after starting up with the handbrake on?
Always assuming you have your seatbelt on. Doesn't work if you don't. Can get messy. (No personal experience thank goodness). I love this feature and am very disappointed that the change to a foot operated handbrake in the Mk2 means that it is no longer available, AIUI.You do realise that the electronic parking brake will auto release when you try to accelerate.
i.e. From parked (overnight) with handbrake on and car powered down, Get into car, foot on brake pedal, power car up, when ready move foot from brake pedal to accelerator and depress, electronic brake will auto release.
That makes hill starts VERY easy as it works anytime you have the handbrake on and want to move either forward or reverse.
Yes, I use the auto release when actually driving and at junctions any time I use the handbrake as it makes take-off quicker as otherwise you need to use the footbrake whilst you release the handbrake. But under these circumstances the car is already in D and so I had never experienced this additional whirr. It is only when I varied my normal procedure and selected D before releasing the handbrake that I heard it.You do realise that the electronic parking brake will auto release when you try to accelerate.
i.e. From parked (overnight) with handbrake on and car powered down, Get into car, foot on brake pedal, power car up, when ready move foot from brake pedal to accelerator and depress, electronic brake will auto release.
That makes hill starts VERY easy as it works anytime you have the handbrake on and want to move either forward or reverse.