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Almost certainly courtship, though it can just be a sign of dominance of one animal over the other. What you may notice if it happens again is that it is not the one doing the circling that is making the noise but the one being circled.
I’ve also had some short yelping/barking type noises from the female being pestered which I’m assuming is trying to tell the male she’s not ready yet.
It can go on for quite some time but eventually the male seems to get the message and wanders off.
They can have 2 litters in same year so now would be exactly the time for courstship leading to litter 1 in May/June (hedgehog gestation roughly about 5 weeks I think).