From the video you posted it appears that the car is stationary and the noise is present, so if that's the case you can rule out anything to do with the suspension because it won't be that. The cause has to be something on the engine, such as the flywheel or exhaust, or to a lesser extent the transmission. If it's a diesel engine it will most likely have a dual mass flywheel (DMF) which may be failing. If so, and you bought the vehicle within the past 6 months then I would expect the dealer to replace it under warranty.
You have the right to reject the faulty car for a repair or a full refund if you return it within 30 days of purchase, and they are obliged to repair it if a fault develops within 6 months because it's assumed in law that the fault would've been pre-existing.
If you'd bought the car privately then you would be on your own.
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