2011 Toyota Camry Loud Noise

I have a 2011 Toyota Camry SE with less than 6k miles and I hear a loud popping sound stemming from the front end when I take the car out of reverse, put it in drive and accelerate. The noise does not happen any other time, but without fail when switching out of reverse. I took my car to the dealership and was told the noise is "normal" and is due to brake pads slidding/slipping under the calipers. The dealership refuses to fix the issue stating that despite the loud noise, everything is functioning as it should and I need to just live with the noise. This does not seem right to me and I am wondering if this truly is "normal" and above all is this safe? I have never owned a vehicle that made a noise like this in the past.