Two types noises are being described here in this conversation. First type would be what the OP did not likely hear and that’s s the normal Hemi tick. Which is sort of faint, but sometimes a little louder than faint, especially in the winter when the engine is cold started, but then goes back to a faint tick once warmed.
What I think the OP did described is the bled down lifter clatter that happens occasionally and lasts about 3 seconds until the lifters pump back up. I've experienced this on my last two Hemi's, one being a 5.7 and the other a 6.4, both in 2500's. I've found the easiest way to recreate this condition is to start your truck cold, let it run for no more than 20-30 seconds then shut it off. Here's two examples, start up truck and move it out of wife's cars way so she can leave to run errands and shut truck off. Or, dealer lot attendant starts truck to quickly move it and shuts it back off. The very next time the truck is started there is a very high probability it it will clatter. Don't ask me why they do it, I have theories as to why, but they're just that, theories.
That being said I'll tell you the sound was normal. If you should hear the brief loud clatter again while looking at truck as long as it goes away after 2-3 seconds no worries. Test drive the truck and after test drive shut it off and then restart after a minute or two. It shouldn't clatter after being driven and warmed up and if it does clatter bad once warmed up then the truck has an issue.
Remember, don't confuse normal frequent Hemi tick with occasional normal lifter clatter. They are two different animals.