After driving 1,000 miles since the video I finally had the truck get looked at by my dealer in Minnesota after driving from southern Indiana. Truck seemed to perform fine the whole way home, but could hear the ticking noise under light acceleration below 2,000 RPM on highway.
Engine hasn't been torn down yet to confirm but tech says it has to be a lifter failure. Can get the noise when engine is warm letting off the accelerator. Will know more hopefully by the end of next week.
We had forgotten this dealership that is servicing it (where we bought it new) gave us a lifetime powertrain warranty. Fingers crossed, but this whole job should be covered by that. My service advisor has to confirm still but he said it should be. Got really lucky with this one... I know these lifter jobs are thousands.