My old TB had a bit of a tick from the day I bought it. As the mileage crept up it sounded like a diesel when starting up, then quieted down a little, but always had a tick. On the flip side it was the smoothest running engine I ever owned.
Honestly I think it's normal. Mine does it, and I was walking down the street, heard an engine that sounded like mine, looked up, yup another Envoy. Don't worry about it - just make sure there's sufficient oil in there
Could be many of things, but I'd check the exhaust manifold-to-engine and manifold-to exhaust pipe couplings. They can make a ticking sound if they have a minor leak and drive someone crazy if they don't know what they're look for. May or may not be leaking, but it's something to check...