2020 AT4 6.2, <1000 mi, noticed the same thing, I don't notice it at stop/starts or during driving but I definitely notice it if the truck has sat say overnight or during all day at work. If it's just in/out of a store it's still quiet. But yeah, mine sounds just like a bad pulley/slipping belt for 15-20 seconds and then it just goes away. Haven't tried to investigate to see if it's the exhaust flapper as some have found.
It has a few gremlins so far
1) said squeal at startup
2) Hard/delayed shifts from 1st to 2nd and 2nd to 1st (read disabling auto start/stop can help, but haven't tried it yet)
3) For some reason the lane departure alerts that used to vibrate the seat have stopped, don't think I change any settings but some alerts like car/person behind still vibrate the seat
4) Even though it's turned on in the settings, autostart will not engage the cooled seats.
5) Traction control doesn't really appear to be working, if it's raining etc. the system says it's on but it doesn't seem to engage, IE it's easy to spin up the tires on a wet road turning a corner. Also even if I follow the steps in the manual, I don't seem to be able to turn both TCS and ECS off, it only seems to impact the TCS.