I'm not sure, there was a piece of emery left on the passenger side floor. So I'm guessing under the dash on that side. They said they cleaned up and tightened it. My truck was gone a couple of days before they figured it out with help from GM.
I didn't get a recall for this but, I had a number of weird electrical problems that turned out to be a problem with the ground. The troubles started with dimming headlights.
I had the same, took it to the dealer twice and they said they couldn't recreate it. I took the knee bolster panel off and just below the steering wheel there were 3 or 4 bolts that were very loose. I tightened them up and it has fixed the problem. It was the same as you though, if I tapped the panel, it would make the sound and sometimes tapping it made it stop.