With the pump making that much noise, even if the pressure is ok, it can't last much longer. Changing the fuel filter might give it a little more time, but when it starts making that much noise, it's just one of those things that could go for another 1000 miles or go out next time you start the engine.
Obviously the recording was made outside the car, and the exhaust drowns out the pump noise after it starts. I assume you can hear it making the same noise all the time inside the car. If it is not making the noise after start up, you could just have something in the tank causing it to take a few seconds to pick up fuel after you turn on the key.
Either way, unless someone has installed an access door under the rear seat, you will have to drop the tank, so you might as well replace the pump when you do.