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Hello, welcome and thanks for asking your question. My name is*****'m a Certified Auto Technician with 29+ years experience. I will do my best to assist you. please keep in mind that I may need to ask questions of you before I can answer. When you reply please feel free to add as much detailed information as possible pertaining to your concern.
This sounds like a possible broken a/c door actuator. It can be narrrowed down by changing a/c modes and turning the a/c on and off while the engine is idling. If you are able to duplicate the sound by changing a/c settings then the most likely cause is a door actuator motor. To find out which one requires you to remove the glove box door and listen for the source of the noise when it is occurring... Once you narrow down to the correct one, replacing it will solve the problem...
Keep me posted and let me know if you have any additional questions...