Here's a video where you can hear the sound while I push in the clutch pedal and let it out several times:
When the engine is cold I hear this sound, but after warming up it disappears. There are no other symptoms and the transmission works great. Is my throw-out bearing going bad? Could it be old transmission fluid? It's a 2013 IPL with 92k miles and I don't know if the transmission fluid has ever been changed (although I did recently change the clutch fluid which made no difference).

I would love to solve the problem by simply changing the transmission fluid, but maybe I just need to bite the bullet and replace the transmission components including the throw-out bearing.

 

Throw out bearing going out makes your trans sound like a cement mixer when clutch is not pushed in. Trans fluid should be changed every 50k miles