With this info it tells me the cable needs to be adjusted.
The reason it doesn't grind when starting in gear and holding the clutch is because the disc is held in place by the rear end through the transmission gear set. So when you go from the gear it's in to reverse doesn't give the disc enough time to build up inertia.
Now when you try to go into reverse after driving or starting the truck with the clutch engaged. The slight amount of friction between the pressure plate and flywheel is enough to make the disc start to rotate.
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