Hi my vitz 2003 also do the same.
Funny thing is when i took it toyota center rwp, they drive it and it didn't make a single sound and they said its working fine. Embarrassed i came back home and next day it starts doing the same way.
In long run its Tyre start giving phis phis sound too. once i stopped the car and put water on all Tyres and i found that front left Tyre was giving smoky fumes. Probably its disks were very hot. i told that to mechanic too and he suggested me to never throw water on Hot Tyre disks even it makes sound.
However both of these problems are not solved.
Kar kar or tak tak sound in short run and phis phis sound in long run.
Any suggestions to get rid of this.