Update for everyone after having the truck back for a week:
There was a significant decrease in the idle and engine ticking after the dealer replaced the vacuum pump, however, I still notice the faint "exhaust leak" that has been present since ~2,500 miles on the truck. I paid extra attention to the loaner I drove during the two days mine was in the shop and never heard a noise similar to what mine makes. The dealer stated they checked all around the manifold for any sign of leak and did not notice anything while test driving, but I can say that the loud vacuum pump far overshadowed the exhaust leak. The vacuum pump replacement indeed fixed the rough sound at idle, but I still believe there is a minor exhaust leak that the dealer didn't notice. I think my next step is going to make an appointment at the Chevy dealer down the block from my office to see what they can do.
Side note; my rear passenger side leaf spring went bad(made a terribly embarrassingly loud noise while driving) so they replaced both leafs in the rear, and I now have a creaking noise coming from the driver's side front wheel. I can recreate the noise just by rocking the truck side to side but I have the ProComp 2.25" level kit on the front so I'm kind of weary about bringing the issue up to the dealer and them telling me I'm out of luck due to the added leveling kit, any advice?