I had something similar on a 2020 RTL that started occurring after about 2000 miles on it. My issue was more of a creaking sound when the truck would shift its weight on the frame. I could beat reproduce it by doing “S” turns at low speeds, under 20 mph, though it did occur at higher speeds with less turning motion. It was definitely not a suspension thing as I regularly went over a pitted unpacked parking lot and it would not make the sound. I brought it to the dealer who was able to reproduce it, and they consulted a Honda engineer, who had said they had heard about this. I’m not a car guy, so I didn’t understand their resolution, but it sounded like they lubricated the chassis some how.
It was gone for a few days and then came back, but a different sound, tighter and shorter, as if they had tightened up some metal that was binding a bit. I plan to have them look at it again. Will try to remember to update this thread when I do.