I've been wondering... is it normal to hear sharp noise like a normal car braking with worn out brake pad from Prius when you just started it up and drive? I thought it's from the braking system, but not sure if it's really the braking system because I either step on gas or step on nothing, but never step on brake. The hand brake is already released before I shift to D. I hear it every time I start the car and let it slide out without stepping on gas. It doesn't matter whether I turn the wheel to go onto road from road side paring or just going out straight from a parking spot in the parking lot of a mall. I just done my 5K, first maintenance, after I get the car and the dealer said my car didn't have any issue.
I've never driven a car with brake pads that were worn out, so don't know what that sounds like. Why don't you record the noise (you can probably do that on your phone) and upload it. The car also came with a DVD, featuring some of the noises you will hear as normal.
Perhaps the "parking pawl" is under load and you are hearing that release. Try this: press the brake pedal, then start, then release the parking brake, then shift to D, then release the brake and move your foot to the gas pedal.
I don't think it's normal. Try parking it without using the parking brake and see if you still hear the noise. Could be one of the rear pads is not returning to its normal position when you release the parking brake. I doubt that is the problem but it is an easy test. Does it do this only when you back up or when you start out forward as well?
It doesn't produce that high pitch sound when I'm backing out. It only makes sharp noise when driving forward in the following two situations start the car, shift to D and driving in forward direction start the car, backed out and shift to D and driving in forward direction
