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Most automatics have a lock on the transmission selector.
When the vehicle is in P (Park) you are not able to select drive or a gear unless you depress the brake pedal.
My Audi Q7 ha a solenoid and you hear it click when I put my foot on the brake.
This solenoid stops you from accidentally selecting a gear without the brake depressed.
Is it a single click when you depress the pedal.
Or is it a constant click click click ?
worn out brake pads and slightly warped rotors. Most brake pads have small steel tabs that touch the rotor at a 90 degree angle when it is time for replacement. if you keep driving on the worn pads, it will stop chirping but that just means the tabs (also called wear indicators) have broken off and repair is about to get very pricey.
You need to check your clutch master cylinder reservour, not your brake cylinder. It is located approx in front of the clutch pedal, outboard of the brake cylinder. If it is low, you need to inspect for leaks around it, the lines connecting it to the clutch slave cylinder that is mounted on the transmission.