Noise with changing drive

First wanted to say thanks anytime a question I have pops up. Forum has been a great resource.

2022 RS, 300 miles. Today when I'm in park and change to drive or reverse I hear a decently noticeable churning noise for a second or two beneath the car. It's reproducible when in park and going to either D, R, or N, but I don't hear it if the car is in drive already and I go to R.

Any thoughts?

Thanks.