Like CHP sez: Several things going on guys, during "Wait To Start".
Fuel pump building up pressure.
Vac pump building Vacuum. (brake booster, SOF locks, Heat/AC blend doors reseting to positions at last shut down)
Glow plug relay hum'n
ECM/PCM doing system check(s)
Chimes Chime'n
Dingers Ding'n
Unless we hear a STRANGE noise never heard before.. ? No Worries.
What Joe said.
Most likely it's the vacuum pump, as they make a godawful racket compared to the others