I bought my car with 120K miles on it from my son and it always made the exact same noise as you posted in the video. My son bought the car new and had it well maintained.
I just sold the car this past fall with 212K miles on it and it never caused a problem. I was told this noise is a common problem with the V6 caused by insufficient oil getting to the lifters during cold start up. The colder the weather, the louder the noise and the longer it lasted. If I started the car in cold weather and just drove off, the noise would be loud and last several miles. I greatly improved this by doing two things. One, I would start the car and if it was making the noise, I would let the car run for ten to fifteen seconds and then turn the car off for 15 seconds. Then I would restart the engine and the noise was usually gone. In extreme cold weather, the engine would make the noise after restarting, but at a much lower volume. I would repeat the procedure and the noise would go away. I did try adding Seafoam and that did help some, but I won't recommend it's use as I believe it simply thins the oil and that could cause problems over time. In warm weather, the engine would only make the noise about once or twice a week out of about ten starts.