Just to restate (and I KNOW half the forum is going to lose its mind when I say this), so get ready:
they all do it, whether you have noticed it or not, and it's normal.
It was new for 2018 and is on the F150s as well. It is a feature built in to allow quicker startup when you hit the push-to-start button. Before 2018, Ford set the pump to prime when you inserted the key so it was ready when you turn the key. Folks were normally inside the vehicle with the door shut when they insert their key so they never heard it (I could actually hear it on my 2012 F150, although it was more of a solenoid noise, but I digress).
Because there is no key in these, Ford has programmed it to prime the pump when the driver's door opens. (Fun fact, if you leave the vehicle off with the driver's door open for a while (like 1 hour+), the pump will actually prime when you close the door too.)
If it bothers you for some reason, you can disable it through forscan (this is from the F150 forscan sheet, so it may not work on ours):
726-41-01 xxxx x*xx xxxx Fuel Prime on Door Ajar Cfg: 0=no prime, 1=prime
So...yes, they all do it...and yes it is supposed to do it...and no nothing is wrong with it.
If you don't hear it, you're either in a loud area when you open the door, or you think it's the sound from the running board, or you're just not listening hard enough. But I promise your Expi does it. (And probably your Navi too, but maybe the raptor motor has different programming.)
And now, for everyone who is going to yell at me and tell me that theirs doesn't and I'm wrong....GO!!
