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I know you said it's rwd but If 4wd check the driver side cv shaft boot and see if the boot is not torn. The CV joint will make a clicking noise when going bad hot or cold. More pronounced when turning. Try turning the steering left or right and move forward slow and see if the clicking is there. If not 4wd I would check what boominXplorer said. Manifold could be cracked large enough that it won't close up when hot.
allright the 5.0 trucks are RWD or AWD
To turn a RWD truck into a 4x4 you will have to replace the transmission
Look at the exhaust manifold on the drivers side. Missing any bolts? The front ones?
Look for exhaust leak around the exhaust manifold, black soot will be present.
Often the exhaust manifolds will come apart or lose a gasket
The 96 exhaust manifolds are welded together like patch work from the factory, and they have been known to develop leaks