Yes, it is infuriating. I've been to the dealer twice. The second time the senior tech drove my truck with me in the passenger and said they all did that, which is false.
You're right it sounds like the noise is created right under the driver's feet. I'm no expert on vehicles but can it possibly be related to the transmission. The tick/rattle is directly correlated with acceleration and it only occurs in Drive. The craziest thing is that I can be driving in silence without the tick or rattle and I hit a bump in the road and it triggers it and then won't stop until I'm at a complete stop. It think if it was exhaust, injector, or pump related, it would be doing it nonstop. However, it also sounds like a pulsing or a "spraying" sound. Is there a right near the footwell that can be making that noise in the video? I'm literally exhausted from trying to find a fix for this thing.