That's not cool.
If you fully buckle the belt and pull on it, can you easily unbuckle it without pushing the button?
Also, if it only happens on one side, get a flashlight and check inside the buckle slot for coins or something. For comparison, look at the other side and see if you find any obvious differences.
I had a 2001 Escape back in the day and Ford issued a recall for the seatbelt buckles, saying that there was a possibility of buckling the belt but not having the buckle fully engage. (
Link) AFAIK, there aren't any recalls for the 2016s, but weird things happen.
Hopefully this goes without saying, but do not drive the truck if you feel it's unsafe.
How many of you heard this guy's voice in your head as you read this? LOL