If the souind you get is the same as the video , it is nothing more than the servo doing it's job . As long as the pedal does not go all the way to the floor there si nothing to worry about . When you are driving the sound is usually masked by in car noise , if you operate the footbrake with the engine switched off , you will hear the servo working , as air re-enters the servo .
Nothing unusual , nothing to worry about . If a servo does fail , the pedal becomes harder to press & you do stop , but you require a greater effort on the pedal
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