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I'm experiencing this exact same thing with my 2007 Prius. I've had this car since 2010 and this noise only started being noticeable a month ago....
New info today. I'm the second owner. Under the first owner the ECM (ECU controlling the ICE?) and relays were replaced--twice. This happened...
Got the dreaded HV warning exclamation. Toyota dealership checked error codes and said HV ECU needed replacement. Paid $1,300 and had it fixed....