The sound tends to be more of a clank or clunk sound but the sound can potentially echo down the axles some situations and make a more harmonic sound, hence the "ping" moniker.
Axle ping is most apparent when you shift the car from reverse to drive and back again with your foot on the brake. There will be a noticeable clank noise upon the shift in directional load against the drive train. This is easier to produce on automatic models but the same applies to manual transmission models.
https://www.ipdusa.com/techtips/10185/a ... s=P0,P6251
I replaced front axle screws and the "axle ping" is gone.
FWIW: VIDA has two torques specs for each type of screws, i.e, with cone and without. Without cone screw is 2 stage torque, 35Nm and then 90º stretch. With cone, it is straight 50Nm.