Certain times, usually I notice when I get to the parking garage at my work, I hear an occasional metallic clanking when I press on the brakes.
I almost never hear it when I start driving, only after I've been driving for a while.
Even then, it's hard to predict when I'll hear it. I don't always hear it when I get to work, but I was fortunate enough to hear it when I drove to work on a weekend.
My Canon Vixia mini video camera was precariously resting on my window and I tried to get the windshield wiper to help hold it in place a little. The Vixia mini is supposed to be for indoor blogging, not outdoors like a GoPro but at least it was able to record the sounds.
In the video, I back up and go forward a number of times to try to trigger it and heard it any number of times such as at 12 seconds, 17, 21, 30, 36, 42, 46, 52, 1:06, 1:10 etc
At 1:35 I start driving back down the garage and surprisingly didn't hear it all that much but I did get a final clanking sound at 2:29.
Here is the video: