I have the same issue. I got the Stumpy 15 Expert and I just took it in for its first service. I told them about the clunk/clack sound and even showed them a video (I was filming some of my rides with chest mount action cam). They have had a really thorough look at it and compared with some other bikes that also have the GX AXS T-Type and they all have really bad chain slap which is where the noise is coming from (they filmed in slow-mo with someone doing bunny hops and confirmed it is the chain slapping). I'm pretty pissed. This bike is awesome and so quiet but as soon as I get on some slightly chunky terrain is clack clack clack the whole time. They happened to have a SRAM XX cage that was lightly used off another bike that they put on to see if it would fix the problem (it's lighter because it uses some titanium instead of steel) and they said it's better but still not fixed. I would be happy-ish if they were doing this fix for free but they want to charge me for this. The GX derailleur is faulty man. This is not acceptable for a derailleur that costs so much money but causes chain slap on a $12k NZD bike. This is not cool. I wonder if we get enough people complaining to SRAM if they will do a recall or provide some sort of fix.
Here's one of my videos. If you skip to 50 seconds you can hear it clacking on every bump.
UPDATE: I went to speak to them at lunch and said I don't want the new derailleur cage coz I don't want to spend more money on a problem that shouldn't even existing on a brand new Specialized. They said they would talk to Specialized and actually found that my bike has an early model chain stay protector and the newer ones have a lot more pronounced ridges on them so they are going to swap out my chain stay protector with the one that is on the other Stumpy 15 in their shop and we will see if that fixes/helps the problem. Fingers crossed. I'll pick it up after work. It's not the end of the world, it's just a clunking sound but the bike is otherwise so quiet and pleasant and fantastic to ride so it's kind of just a turd in the soup when it clunks down over every root, rock and drop.
Update #2: The different chainstay protector didn't fix anything so it's either a bad design on the chainstay protector or a bad design on the clutch of the mech or more likely a combination of the two. They are going to fit some STFU chain guides free of charge. I'm not a fan of the look of them but I'm sure they will work well to stop the noise.