I have seen a few people on the forum with this issue. Firmware is not helping Dealer states everything is fine Well I replaced a major part required but still having the same issue and now I will have someone from Toyota head quarters to take a look at my Prius this week. I am sure this is an isolated issue and hope to find a solution for a few of us. Will update on Friday... Wish me luck, I need it.
Mine groan fairly loudly when parking brake is engaged and I get in or out of the car. It's annoying but learning to live with it.
Mine was making a noise, and there was a TSB that was applied by the dealer (firmware update), and resolved the issue for me.