One of two cures. Either replace the lifters (all of 'em) or warm it up good before driving.
Honestly, back when those engines were OEM on 3/4's of the Mopars sold, probably 25% of them had that problem coming off the assembly line and most of 'em went 100k or better, still tickin' . .
But if you can still hear it (or them) when you're going down the road with all that other noise, Better fix 'em . . quick! That loud ticking is the Grenade about to go off!