Grinding noise when pulling away

2018 f150 2.7l ecoboost

Ive noticed over the last couple weeks that whenever I pull away after initial start up, in drive or reverse there is a split second of grinding and knocking that I can also feel in the pedals. Truck seems to run totally find after that. It'll often only do it when the truck is cold as well, run a round and do an errand, after im finished and i start it up and pull away, nothing. any thoughts?