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It doesnt sound like the ABS. Im hoping to take another one for a drive in the next month to see if that does the same but it looks like yours is doing it as well Rob. Hopefully it is normal but you would think the dealers would know what it is if its supposed to do it.
After numerous visits to the dealer they seem to think it is an ABS check but are not 100%. They cant find any reference to it in any manuals. I have driven a 2008 D3 and there seemed to do something similar but it was barely noticable. You really had to be looking for it whereas mine is quite pronounced. It doesnt seem to be getting any worse so hopefully it is part of normal operation, just a bit more noticable on my car.
Sounds like a sticking park brake mechanism disengaging as you drive off.
I don't know how similar the D2 is to the D3, but on the D2, at about 20 kph after the first start the suspension valve block goes through a test - the sound and the feel is exectly as you describe..........however I do not get any light on the dash.
On the D2 this is a normal check process.
..............but as I say I don't know if it's the same components as the D3