I have the same noise on my 2010 sxt. Mine goes away after I start driving for a little bit though.

 

It is called Rocker Arm Tick. Kinda common among the 3.5 engines.

In the 3.5L engine over time there can develop a rocker arm tick. Its usually noticed when the car starts up. For some it may go away after a few minutes of driving. over time however, it will last longer and longer and sometimes may come back while driving here and there. The tick is caused by a rocker dowel pin SHEARING, yes shearing off.

Normal pin on the right. Sheered off pin on the left.


I believe dealer can fix it by replacing the entire rocker arm assembly.

 

I got this same sound. How much does it cost to have it fixed

 

Interesting, your saying it happens in the V6, but what about the V8 models?

 

It may just be your fuel injectors.