I have a 2014 36LA and have noticed when I have my brake pedal de-pressed and trying to shift into park we hear a loud whining noise
DW says it is similar to an "old fashioned Iuga OR Aruga horn (sp) if you can remember what that is
On some forums I have heard that it could be an electric brake boost pump.
There has been a recall on F150 trucks ( 2013-2014)
No recalls that I can find on a F53
Another hint is that it appears to start after I have been driving for a while, stop and then shifting into park