Sorry for the bump..
Got my bone stock 2020 ST with 40k having the same clicking issue (persistent since I bought it)
I provided the dealer with technician notes from this thread.
They replaced the "Intermediate shaft with updated half shaft", reset the AWD module, and said it was ready to go. The notes mentioned some BS with my trailer hitch making a noise (never noticed this, but obviously since the hitch doesn't fit like a glove it will have some play).
After this repair I'm still having the same issue, mainly on slow decel and downshifts at low speeds, occasionally when shifting from P to R or D.. On to another dealer.