2000 Ram 1500 with standard transmission

My 2000 Ram 1500 has starded making noises when you take off in either first or reverse (It may make the noise in other gears, but by then the road and wind noise makes it impossible to hear). It's a sort of clanging noise, similar to the noise you hear when an engine is dieseling. If I am in first gear and coast to a stop with the clutch depressed you can still hear the feel the gears grinding as if the gears aren't fully disengaged. And if I start the truck in neutral it often will not shift into any gear unless I stop the enginge, shift into first, then start the truck. The transmission doesn't appear to slip at all when taking off in first.
Anybody have any ideas?
Thanks.