Knocking or leak on Start up

Hey guys have a question that maybe someone might be able to answer for me. Got my 2020 SR5 and this weekend I started it up but I did a remote start and wsa standing on the passenger side and noticed on start up it sounded like it had an exhaust leak or the valves knocking but went away quickly. I thought maybe it was because it was a start up from a cold start but the following morning I did the same thing only difference is I was standing now on the driver side and it did it again but not as loud as the passenger side and went away quickly. Anyone else notice this ? I don't drive the truck on a regular and I'm usually not standing outside when I remote start it. Thanks

 

Search for noise at startup or diesel sound. There are a few threads about it. It’s the VVT in the engine.

If this isn’t it, then have the dealer listen to it. You have a 2020, but mistakes happen at the factory.

 

Appreciate the info & help