Plugged it in again this morning after updating the firmware and reformatting the SD card. It happened again almost immediately. I stuck my head up by the dash cam and the sound is definitely coming from the dash cam. It reflects off the windshield and sounds like it is coming from the speakers when I sit in the driver's seat. I was positive it was coming from the speakers, but it is definitely coming from the dash cam. Thanks, @ChevyGuy for the recommendation to check that.
Time for a new dash cam.