New Odyssey noise

I have a brand new Honda Odyssey; every time it shifts into second gear it makes a noise that sounds like “poink”. It only does it the first time after starting up; once I’ve been going for awhile it does not make the sound again. However, if I stop and re-start the engine, then it “poinks” again. It runs great and other than the noise there’s nothing wrong with it. Is this something I should have checked out?