I heard my Limited do this as well - I made it go away doing the same thing you did - a couple days later I was thumbing through the owners manual and saw on page 22 a section titled "For Your Information" - The second bullet says "Noise from under vehicle after turning off the engine". I read this and it makes sense to me that this is what i heard because the sound was very close to the fuel filler/tank area. It says "Approximately five hours after the engine is turned off, you may hear sound coming from under the vehicle for several minutes. This is the sound of a fuel evaporation leakage check, and it does not indicate a malfunction". Hope this helps!!
Love this forum. I just heard this while in the garage. It totally freaked me out as my car is just a day old. It just happened to be about 5 hours since I drove. Now I know not to worry...