With my foot on brake, and put truck into drive, I hear a lot of noise from under the truck... Kinda a squeaky noise, like two rubber bushings rubbing against each other. Anybody have any ideas?

 

Mine makes a similiar noise, and so far as I can tell its just the brakes taking the load of holding the truck still when going from park to reverse/drive.

You can verify by just pressing the brake enough to change from park to neutral with the key on but truck off, then start the truck in neutral. Take your foot off the brake, put the truck in drive... no noise.