Well I have good news, you're not imagining it
Really sounds like an engine/transmission noise, if you listen to how it happens in tandem with the engine, e.g. @ 0:55 and @ 1:08
I don't see how the dealer can say there is nothing wrong when you play that back for them.
I think you've said it doesn't sound when in neutral and revved up past 4k, only when riding along above 4k in 1st, 2nd, 3rd at least.
Have you tried revving it up past 4k when in gear with clutch pulled? (wouldn't do a lot of it, but once just to test)