2005 GMC Sierra Engine Noise under load and after starting

I have a 2WD GMC Sierra pickup with the 5.3L V8. Recently, it makes a grinding like noise when I start it up and is in park. It goes away shortly after I start it up but shows up again when the engine is accelerating at any speed.

It does not throw an engine code, and the alternator is giving 14 volts, the power steering appears to be working fine (cant feel any resistance) and my brakes feel fine. My wheel bearings and ball joints are ok. I just had to replace my front passenger side wheel hub and bearing because it blew out. Does not seem related because the front suspension is isolated from the engine. No visible dents or damage to the engine bottom, but it is very muddy, I had driven off-road with it.