There is auto-leveling, so could be depending on how you were driving immediately before and how much air is in there, sometimes it needs to dump some air to level things out.
I have the same, sometimes it does it when I get home, sometimes it does not, I did have an XC90 with air 2 cars ago, and it would self level if parked on an incline but I don't recall the same noise.
I'll add on that you may also notice the front getting pumped back up after a faster stop too occasionally depending on how you drive. Also given it's dependent on the density of air, temperature also can plan into how often you notice the adjustments that its making.