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I wanna say you are hearing the stages of your manifold cracking. Mines progressively got worse over time, to the point where I could here the manifold leak over my exhaust. It started around 13-14k miles, ended up in service at 18k miles.
If under warranty still, you’ll get it replaced under warranty, but new part is on limited supply right now. If not under warranty, you may want to upgrade to aftermarket headers.
Have it looked at soon. I cracked both the manifold and bolts on passenger side, and local warehouse had stock, so I lucked out and had it changed out in under a week.
My truck is at the dealer right now for a similar issue. The bolts that connect the exhaust pipe to the muffle broke so it has a terrible exhaust leak. The service advisor said they’ve had a quite a few come in with a similar issue lately. Mine is also a 2019.