I just got mine a week ago and it sounds JUST like that. Yes, carpet only, not hard floor (I have mostly carpet).
Happens during straight runs, for a while I thought it was just a thing on turns but I now see it happens constantly. I have low pile / Berber carpet and medium pile loop carpet elsewhere, same issue on both.
I can tell it IS affecting carpet cleaning performance. I have a test in mind that may visually show the issue, but I think I may just want to return this, mapping is being quite the pain because of the difficulty in getting it to actually save map updates.
It is the roller, I can see it stopping by looking under it in operation with a good light.
I’ve seen other mentions of this robot being no good on carpet. I went by the review by Vacuum Wars.
I’m running the latest available beta firmware.