I wonder if it's caused by boiler cycling. The boiler turns on and off based on the heating (thermostat) demand. When the boiler is off, the water in its flow output goes cold. The UFH manifold is mixing 'hot' boiler water with 'cold' return water to make the 'warm' water that goes around the UFH circuit. But with the boiler off there's no 'hot' water, so the UFH loop goes cold. Then the boiler kicks it and starts making hot water again, so the UFH goes warm again.
That means the water temp in the UFH cycles regularly. Every time the UFH cycles there's expansion or contraction in the floor which makes the noises.
Is there any kind of buffer or volumiser in the system - ie a tank that contains a volume of warm central heating water in it (which is different from a pressure vessel)? A great volume would help to smooth out the cycling because there's always a reservoir of 'hot' water to deal with, even if the boiler is off, and so the UFH temp doesn't change so much.
If you can adjust the boiler and UFH mixer temps to bring them closer together, you might find the boiler runs for longer and the UFH stays at a more constant temperature. You could try it and see if it reduces the regularity of the noises.
Theo