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I have a similar noise from under the dash near the brake pedal when braking hard or when letting up on the brake pedal after stopping. A dealer service team lead heard it while on a ride along, so they're replacing the brake actuator now. We'll see how it sounds when I get my CT back in a couple of days. So far the ES 300h loaner's brakes have been silent.

From what I have read, a "squawk" or "bark" has been a common issue with the actuator on various Prius years, but my 2010 was fine.
 
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