Mine does a similar thing when cold but only when I initially back up, comes from the rear diff area. I was thinking it could be e brake pads chattering. My e brake pads were in sad shape when I did the rear brakes last
Mine was the brakes too, and only in reverse after I first started the truck. I started applying the e-brake when I parked it and it seemed to get better.
If it's happening in forward, and all the time, it might be the u-joints. Mine didn't make noise but I had a vibration show up at freeway speeds.