Hello, can anyone identify the source of this "groaning" sound at startup? It goes away quickly and does not happen once the car is warmed up/
1994 940t. Youtube video link below. thanks for the help

 

Sounds like the starter pinion gear is not releasing - the solenoid is supposed to pull it back when the starter is no longer energized. Could be the solenoid sticking or the gear not sliding on the shaft. If so a replacement starter is the easiest solution - and they are very reliable so a used part would be a reasonable choice (if it tests good)

Then I heard belts squeaking.

 

thanks hoonk, that was my first guess. I suppose it quiets down when the car is warm because the solenoid also warms up.
and yes, the alternator belt is a little loose, nothing gets by you