1999 Ford Ranger chirping sound?

I was hoping I could get some help on this since I haven't been able to find anything that closely regarded my situation. I have a 1999 Ford Ranger 3.0L 6cyl flexfuel manual and have recently noticed a loud chirp-like noise that's produced only when I'm shifting while accelerating. I don't think it's the camshaft synchronizer because the noise only comes once after or during an upshift.

The sound kind of sounds like air is escaping (?) but it also sounds like a chirp. The check engine light has not come on. Hope someone can help me figure this out.

That sounds like the throw out bearing is done & needs replacement. The trans gotta be pulled to replace it, so unless you know the disc & p-plate have at least 50% left to go, do them while your there. If you take the trans inspection cover off, you should be able to spin the bearing by hand, and feel that it's bad.

U-joints