I own a Suzuki Kizashi Sport and I get the same, or similar, harsh noise that others have reported from their cars in your column just after driving off. It happens in either a forward or reverse direction. I have traced the noise to the anti-lock brake mechanism, but I do not think it is resetting itself as others have suggested. My car has a CVT transmission, and in my opinion a very good one, and the transmission holds like a "Hill Holder" for three seconds, or until you accelerate. If I don't accelerate within the three seconds the noise comes from the anti-lock brake unit, and the car rolls forward or back, so I suspect this noise is part of this Hill Holder mechanism. I have only done 12,000 km, but do not feel that it is a system problem.
You're right, the noise is the park brake releasing when you take off, or releasing after a short time, it's not the ABS system checking itself.
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