I get the same thing on mine. Only after the engine is started and you hit about 15 mph. There is something of a "clunk" type sound. But its a system doing an adjustment. The manual even mentions it.
Pg 443...
"You may hear a click or motor sound in the engine compartment for a few seconds when the engine is started or just after the vehicle begins to move. This means the anti-lock brake system is in the self-check mode, and does not indicate a malfunction".
The same kind of paragraph appears in the section that describes VSC etc.
If anyone wants to hear this noise, start your engine, lock the doors manually (this eliminates the lock sounds), then start driving. You should hear a "thunk" type sound when you hit about 15 MPH.
I've got over 3500 miles on my Tundra now and its running fine.