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I too have the tapping/knocking sound from the compressor (I assume) when the AC or defroster kicks on. I don't notice it inside the vehicle unless I am really listening for it. However I left my sleeping son in the car to keep him warm while I chatted with a friend just outside and the tapping was really noticable outside. I have a feeling it is normal (while unacceptable in my opinion) and have reminded my service writer about it on every visit. If enough people complain hyundai tends to put out a service bulletin or try to find a fix.

Any Sedona owners notice this?

As I understand it, these engines rev quite a bit at start up because of the way the oil filtration system is set up. It supposedly needs to get the pressure up to fill the filter on the top of the engine. A high rev (up to 2000 rpm or so) seems normal for about 5 seconds. Beyond that or with other noises might indicate something else.

Welcome once again!