2008 key is Sorento screeching/grinding noise in park and sometimes reverse

This is an intermittent problem that is mostly in park and sometimes the noise transfers in reverse. However if I put it in drive the noise goes away. Recently the noise wasn’t happening when looking under the hood and then shut the hood and the noise started. This happens probably 1 out of 10 times when I turn on the suv. If I dont have the problem after starting the car and place it in park most often it does not happen. Here’s a video https://youtu.be/GmS1A98hCbM

My first thought would be a very bad bearing. Either a idler pulley for the serpentine belt or one of the items that are spun by the belt.

I also …as noisy as this is…think the starter may not de disengaging from the flywheel.

Hard to tell from a video where the sound is coming from exactly.