I'm hoping this is the right subforum for this but my 2005 sedan has an odd grinding noise when first started. It can be experienced audibly and with a rumble in the brake pedal once the car hits ~1600 RPM (this happens in both 1st and 2nd gear).

Any insight would be greatly appreciated.

Video is here and can be heard around the 7 second mark (sorry for the keyfob hitting the steering wheel noise in there as well).

 

I can't watch the video, but I think you mean the abs readiness test? It happens when pulling away after you put it in drive.