Occasional grinding noise from transmission?

Hello, i have a 2016 Veloster base witht he 6 speed dct, currently at 119,231 miles and it has a weird grinding noise coming from the transmission that only sounds when the clutch is not engaged or when its engaging, we noticed it after purchase around 2k miles ago but so far no issues with the transmission, shifts between gears as it should and no problems have been noticed so far

Will attach a video with audio about it in hopes anyone can help, also dont mind the dirty af engine bay, planning on giving it a cleaning in a few days, the rust, it was in Georgia for like 4 years and 75k miles, i have to get it checked but thats just one more item on the list