Just noticed this. Is this normal?
I think you're referring to the sound at the :55 mark (there are a lot of other sounds in this video)?
Sounds normal for any AWD Model S. The front motor can be heard at some lower speeds before tire and wind noise exceeds that threshold. The motor should not be heard in an RWD car, except for very old S where the motor bearing needs to be replaced under warranty due to a design change that's in all newer cars (2015 and newer).
Sounds normal to me.
Others threads have commented on the same issue, see these linkshttps://forums.tesla.com/forum/forums/new-2019-s-whining-deceleration-ap... andhttps://teslamotorsclub.com/tmc/threads/raven-model-s-front-motor-whine....
This high pitched whistle bothers some people a lot (me included) and does not bother others at all. Everyone's hearing is different.
Replacing both front half shafts is reported to solve the issue completely, see the second link.