Yes, it does sound like the starter's bendix drive is not disengaging as it should.
If you have a manual transmission I would do this, park on a hill, shut off engine.
Turn on key and let truck roll and then release clutch to bump start the engine, see if noise happens when starter motor is not used.
If you have an automatic this, of course, will not work
You can pull out the starter and check the bendix drive.
Not sure if they sell repair kits for that.
Bendix drive has been around almost as long as electric starter motors.
The torque of the starter motor winds up a spring that pushes the gear out into the flywheel gear and holds it there as the flywheel turns, when the flywheel's speed exceeds that of the starter motor(engine is started) that reverses the torque on the spring and it pulls the gear back, away from the flywheel.