Hello ,
I had some noise problems especially when braking at low speeds. I couldn't tell or convince the Toyota guys. And finally I found a bulletin from http://www.techdoc-toyota.com which was referring " ABS Activating under light braking" and showed this bulletin to the toyota guys. At the end of the day they had to investigate this issue. And they updated software regarding with brakes. And the noise is gone. I don't know if we are talking about the same noise. But I wanted to mention. It maybe useful for someone.