Nope, it happens when simply listening to the radio.
Does that include having to wait a couple of minutes for the unit to boot before the sound starts?
If you mean when I first start the car, it can do but not typically. The following is a bit long-winded, but hopefully clarifies for you how my system behaves.
99% of my use of the system is to listen to the radio (usually DAB), I've never connected an iPod, USB stick or any other storage device. I've streamed Spotify via phone and Bluetooth but that was by way of an experiment rather than something I do regularly. So the radio starts when I start the car and I can usually already hear audio as I cancel the annoying "Driving is hazardous and it's not our fault if you crash" splash screen.
The fault behaviour is still as described in my original post and reply #5 way back on the first page of this thread. That is, I get the "System process ..." message at some random time so I duly tap one of the options (doesn't seem to matter which). That message can appear immediately after cancelling the splash screen, but doesn't stop the audio, and it can reappear several times in quick succession or later, again without interrupting the sound. Then at some future time the unit will crash and reboot, and at that point all the sound stops for a couple of minutes whilst it sorts itself out. Occasionally that has happened when I start the car, but is more likely to occur at a random time whilst driving. After the reboot I have to turn the audio back on and reselect DAB as the source (it defaults to FM).
Hope that helps.