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I ended up mentioning the sounds to the Rivian Service Advisor while I was bringing the R1T in for another issue they found on a comprehensive pre-warranty expiration inspection. Took a quick ride around the parking lot and I think they were thinking it would just be a ting washer and...

Started looking around for issues to potentially bring up as we approach the 60K mile mark. Started listening for potential half-shaft issues after reading a bit here and on Reddit. Somewhere I think someone mentioned listening for the sounds both while moving and by hand manipulating the wheels...