Do you have a pressure reduction valve? If so, do you have an expansion tank? Try shutting off the supply valves to your toilets and see if it stops. If it does, turn them back on one at a time to isolate which one is causing the problems, then replace it.
If it is the prv, it may need to be replaced. The expansion tank may have a blown bladder. Any discharge from the T&P valve on the water heater?
Pick up a pressure gauge and see what your house pressure is when this happens. See if it is going up, then when it makes the sound, it drops back down.