It’s hard to say while listening to an audio clip on the internet but it sure sounds like a small spot on one of the rotors that has rusted or chipped. I’ve had it happen and it is usually not a major issue BUT it usually gets worse pretty quickly, especially if you drive a lot like I do. When it worsens it will get louder and the pedal will start to pulse more noticeably. You may even notice some unevenness in the braking. Then you will have a safety issue.
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