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Can I get a VIN# ?
While I am looking...does it sound like a ping?
Have you tried re-creating the sound without moving the truck? For example keep your left foot on the brake and while in drive slowly apply the throttle while not moving the vehicle? Try this and tell me if you hear this noise.
Thanks for coming to Just Answer to ask a question.
Different expert here
If your Sherna gentry then you purchased a ford ESP warranty till 68k miles and this should be covered under this warranty. Most likely your front IWE hubs are trying to engage on there own from vacuum loss or a failing solenoid. I find the solenoid is 90% of the time at fault and it is easy to change and cheap and located squeezed between the battery and firewall. here is one ford meassage on this issue pulled up using your vin#.