So this is just a guess based on what I found today, Like I said my noise has been intermittent but sounds identical to yours. But I found 2 things, ones easy to fix the other I'm not sure.
#1 Underneath the dash in between the lower filler panel and the blower vent outlet for your feet there is a large wire loom one of the wires comes out of the loom and goes to the noise canceling mic. This loom just hangs there and there is a lot of slack in it so that it can pretty much bounce around. I think the foam was on the actual plastic vent itself to mitigate noise from the loom hitting the duct. See pictures
#2 The slop in the brake pedal arm. Possible fix, greasing something down there I cinched up the wiring loom if the sound comes back I'll look into the brake pedal arm. Trying to use Vimeo for the first time to share the video. Apparently I didn't embed it correctly but the link works
https://player.vimeo.com/video/293442149
I'd check the wire loom because its easy, If that doesn't solve it start looking at the break pedal arm or take it to the dealer and tell them fix it. I'm pretty sure its the brake pedal arm though.