The noise you hear when shifting from R to D is coming from the rear brakes. Mine has been doing that from day 1 and now at 50k, it's still doing it. This happens because the there isn't enough brake pressure applied to the rear versus the front. However, if you were to depress the brake pedal completely, the noise is either eliminated or reduced significantly. Another thing, I think alot of people mistake the function of the HILL START ASSIST CONTROL (HAC) for some other automakers' HILL HOLD system. HAC isn't designed to "hold" the 4R in one spot until you hit the gas. It's meant to reduce the amount/rate of rollback so it gives you more time to get on the gas.