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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 :)
 
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OK, I have been listening to mine, and assuming the car is powered up, with the handbrake on, then when I put it in gear (D or R) there is a short whirr from the brakes, then when I either pull away or let the brake off manually there is a long whirr as they release. That short whirr could be one of two things; either adding an extra bit of tension to resist the movement of the programmed 'creep' when you put it in gear, or some sort of 'pre-arming' ready for releasing.
 

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So you don't get a little whirr when you go from N to D or R after starting up with the handbrake on?
 
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