This was my first thought. That info applies to 2013-2018 models that had the new TCCM calibration installed, including Raptor. All 2019+ models have that same strategy from the factory, so no updates are needed.This was a done on 2013 - 2018 F150/expeditions, but I don’t think it included Raptors.
• Note: The new TCCM calibration changes IWE operation at start up. When ambient temperature is above 0°C (32°F) the IWEs stay engaged regardless of a 4WD mode selection for approximately 0.8 km (0.5 miles). IWE engagement only occurs once per key cycle and is not reset when shifting between PARK and DRIVE. The TCCM uses this strategy to delay vacuum use until vacuum-intensive engine startup has completed and sufficient vacuum is available to fully disengage IWEs.
With the IWEs engaged on every key cycle, both front axles, the differential, and the front driveshaft will be rotating. I rarely ever back out of a parking spot, so I can’t say whether mine does the same thing. It sounds like you’re most likely feeling the Torsen differential though.