The noise is due to the car
The noise is due to the car heater when it engages when the car is in cold climate and starts cold. I have the same problem. I took my RAV4 PRIME to the dealer and was told that Toyota is aware of this issue and is working on a TSB that hasn't been issued yet. The noise won't come up if the car is warm or if it starts in warm weather. It won't affect performance and it won't cause any damage.