Mostly happens when I start the car …. But it has happened while driving .
You say inside noise. Try shutting off all fans, radio and anything else you can before starting it. Then start it and try to see if it still makes the noise
and if it does, where it's at. Inside or under the hood. That should narrow it down. When you push the parking brake release, does it sound normal and stop when released?
As that has a noise before moving the car. We know it's not wheels, tires or brakes, along with the rearend.
Need to keep narrowing it down, until you can point at the source. Probably under the hood. Belts, bearings or something.
Better if you have someone with you while testing, with one inside and the other outside. Good luck.
