I too have this problem with the brake pedal on my 2020 Chevy Silverado Custom. I mentioned it to my dealership’s service department after noticing it occurring intermittently. They did a ride along with me, and of course it didn’t happen, but he did ask me some questions that made me start better observing conditions present when it happens. Today, I figured out that it happened only when I applied VERY LIGHT pressure to the brake pedal when traveling between 30 and 40 mph. It would be a condition much like someone barely riding their brakes. Feels similar to how ABS acts sometimes on a gravel road. I can duplicate the condition fairly easily now. Not every time, but most of the time. I can also hear it, so I’ll probably be able to get video of it while it’s happening.