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It's easiest to take the car to an automotive specialist. They have the tools to diagnose the issue in seconds as compared to tearing your car apart. Alternatively, you can get an ohm-meter and the manual for your specified model and do the work yourself, but it's a long...tedious... process that really isn't worth it. If you spent the same time making money as compared to working on your car, the cost would be cheaper to have a pro do the work.
It sound like brake shoe pulsation. Most probably you need to check rear brakes.
Another reason I just assuming since I dont have the car model and Brand.
Also it might be that if you can here this noise 20 seconds after you start driving, and if the resistor coil got very hot, that the solenoid might be bad. You need to check it too and if the solenoid is too hot to touch it can be bad. In this case cart really will loose a lot of power in both forward and reverse.
If you dont have that it might be brakes.
Let me know how it will go