That sounds to me like a diverter valve cycling, sometimes referred to as a "gulp" valve because of the sound it makes.
If equipped as part of the emissions system, there are many operating parameters for that component to operated: a few of these are engine coolant temp, intake air temp, etc.
To be on the safe side, make sure the MIL or SES or Check Engine Light comes on when you first start the car, and then goes off and stays off. If you're still concerned there may be a problem, seek a qualified ASE certified shop and have them do a diagnostic test to see if all of the EVAP system components are functioning properly.
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