The “groaning” noise is because you changed the sounds (to GM 072 clarinet) but Dorico is still trying to send the data to control the default clarinet playback, which has different sets of samples for legato, staccato, playing trills, etc. Dorico selects the correct samples by sending an out-of-range low note, usually called a “keyswitch”.
The GM (General Midi) patches ignore the actual range of the instrument (though obviously notes outside the true range may not sound very good) so it’s playing the “keyswitch” as a very low pitched note.
Go into Play mode, click the gear-wheel icon in the right hand panel, and change the “expression map” name to “Default” for the midi channel that corresponds to the GM 072 clarinet.
This might not play back dynamics correctly (IIRC there are some other threads in the forum about a bug specific to clarinet playback that affects this), but at least it will get rid of the groans.