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Is it DCT or 6MT?
What I hear in the video is a very deep rattle/knock. Not a light 'chirping' or 'tapping'. Since you say it's more prevalent when the engine is under load, it really sounds like the ignition timing is too far advanced, regardless of what the dealer told you (wouldn't trust them anyway since they also told you the sound is normal). If the DME isn't getting proper information from sensors then it won't time the ignition correctly.
It is definitely not normal. Have you had an oil analysis performed after the sound has started become more pronounced?
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