That sounds pretty nasty.
I assume the noise is coming from the stepper motors but can you confirm? Literally get up close to it and confirm. Make sure it’s not one of the linkages or something else.
Try one thing. Can you go to device settings and enable “fast whitespace scan” and set the speed to something like 1000 mm/min?
Does this change the behavior? If so, increase the speed until just before you start getting the noise and leave it. That’s likely the fastest you’re able to go.