Mystery noise

1. Sounds like metal to metal rubbing
2. Occurs only once when starting off
3. Sounds rotational
4. I can control when noise is produced by holding in brake pedal lightly enough to drive and then as soon as I completely release my foot from brake noise happens
5. Here's the strange part. It happens only when I shut truck off. So if I stop truck put in park but leave truck on and then put into drive no noise. However if I shut off truck and wait about 1 minute then restart and place in drive noise occurs.
6. Once I'm on my way driving to wherever after initial one noise it never happens on that ride until I stop and shut truck off.
7. No codes
8. Stock truck 07 access 4.0 4x4 auto drives beautiful no vibrations at any speed 128,000 miles. Tia

 

Is yours an offroad trd?

 

No, 07 access 4.0 auto stock. Thanks for reply