I have the exact same issue on my 2021 Denali 6.2L. I do not have the performance exhaust option. Dealer first told me it was the butterflies in the exhaust and that it was normal. I then installed a Magnaflow exhaust that eliminates them. Still makes the noise. Brought it back to the dealer, and they said they drove another truck and it makes the same noise so it's normal, but couldn't tell me what it was. I called GM customer service, and have been going back and forth with them for almost 3 months. They finally told me to make an appointment with the service manager to drive a similar, new, vehicle and see if it makes the noise. 3 weeks of trying to get in touch with the service manager and still no calls back. The noise is really annoying.