I have a 2023 F150 KR with the 3.5 with 50k miles. Recently i started hearing noise at cold starts. It was not like the normal cam phaser noise right at start up, rattle then stop within a few seconds. I had that on my 2018. During cold start up process you can hear a an intermittent noise right after the 3 stages when RPMs lower.

The first is right about 40 seconds there are 4 of these noises back to back,

The next is one of these noises at 1 min 21 second

And the last short segments of noises that continue for awhile start after last rpm reduction about 2:14
I cant upload a video of the whole sequence, but here is the first set of noises that what would be at 40 seconds after crank. The dealer says cam phasers, but also noticed in the video this part (not sure what it is as i dont have the truck) moves every time the noise occurs.

And i cant find this noise in any threads.