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Auto Hold can indeed make noises if you turn the wheel when hold is applied. It's because when wheel are being turned, they rotate slightly and discs have to break free from pads in order to facilitate that turn. That sound is unmistakable and doesn't translate to steering shaft in that manner, especially on such shallow steering lock.
If dealer says it is normal, then I would ask them to sign a waiver with detailed description of that "operational characteristic". Should there be an issue with this system down the road, even out of warranty, this waiver will put liability on them.
Most likely outcome, if you ask them to do that, is that they will run this by their legal department and come back with an answer that we will look deeper and rectify the issue. They never want to sign a liability like that, but if it is operational characteristic, then they have no real grounds not to. Just squeeze them into the corner, while being respectful in doing that.
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