Ticking noise when starting from stop (1st gear and reverse)

I have a 2014 WRX and for a little while now I’ve noticed that when I’m at a complete stop and start (whether going forward or backwards), if the car is in gear, it will make a light tapping noise as I let off the clutch to move. Sounds a little like valve ticking.

Here are the things that confound me:

1. Only happens from a start or stop

2. Does not happen while idling.

3. Only happens while foot is on the clutch while going forward or backwards.

4. Does not happen if the car is in neutral the with clutch depressed or not.

5. Does not make the noise while I’m driving normally.

Any insight would be greatly appreciated, taking the car to a shop sometime next week.