I'm not familiar with sounds in the tunnels, but I can tell you that definitely is not footsteps unless whatever is making them has something like 6 legs and is galloping along. The number of steps taken in the 2 seconds we hear the sound is between 8 and 10, depending on what you classify an echo.
The sound is stereophonic, as indicated around the 17 second mark when the final sounds shift to the left channel when the camera is moved around Michael, appearing to be originating from the East.
The sound is comparable to a wet dog shaking it’s coat of water, but sped up and pitched several semi-tones higher. It sounds almost like some kind of weird Avery vocalization. It could very well be a glitch relating to the rats in the Tunnels. In this case, a rat could have partially clipped through the tunnel wall or floor perhaps and sustained repeated damage and injury to it’s body in very quick succession, causing a fast meaty/clucky sound.