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The camera focus is only active when the camera is being used. But as you say, it doesn't need to be our camera app using it. 3:rd party apps can also use the camera if the app is given permission to do so.
I don't have any M5 unit with the first firmware i'm afraid. But it's not related to which version of Android you're using. It's the camera hardware and not a software sound you hear. This can also be heard on older products with older versions of the software.