If its Auto, that could probably be just the safety lock unlocking the shift stick in order for you to shift into Drive/Reverse etc.
Where is the sound precisely coming from? Thingking abt it again..I cud be wrong since u said everytime u hit the brakes.
I have something similiar with my VTI. When reversing the car and putting it in drive (I do stop fully when doing this), there is an audible and sometimes load 'click' noise when I start to drive off.
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