Does the noise go away if you switch off the traction control? If so, it's an easy fix.
Do not leave your traction control off because it is a safety device; I'm just suggesting it as a test to verify if that is the noise you are hearing.
Your noise is normal and present in all Compasses. It was particularly noticeable in my 2018. Elsewhere on this site I learned about an update. You can read that thread here.
TSB 08-095-18 Is this the fix for our drivetrain issues? It worked for me. The TSB 08-095-18 doesn't make the noise go away, but it raises the speed at which the noise occurs to around 45MPH where it is pretty much drowned out by road noise.
My 2019 Compass only makes the grumbling sound up around 45+ where the update would have moved it. Apparently new Compasses are updated before they leave the factory.
My dealer didn't know about the TSB, but when I gave them the number the service writer looked it up and said, "OK, no problem." It took about 30 minutes and it didn't cost me anything.