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When the battery was connected in reverse some electrical components were damaged. A motor, a relay, headlights can work both ways but not printed circuits in electronics. You are lucky you did not toast your computer!!!!!!!
First I would look for voltage drop of both end of battery terminal.not a look or seem tight . you have to do it (voltage drop) and terminal at alternator. now does alternator charging. take voltage of battery if the problem occur have voltage of battery taken like I read your problem it looks like wiring terminal ground and positive the noise you hear is probably low voltage to a relay and the dropping voltage make the relay switch inside relay cycling noise click or buzz
probly need a new batt if over 3 yrs--it has scewed ur computer up--do a tuneup-chec plug wires-clean throttle area-test alternator now cause a bad batt cant ruin it--also inspec trans fluid etc-get a haynes manual at parts place
Even though the lights work the battery should be load tested to see if it can handle a heavy amp. draw like the starter.If you have a battery charger, but it on the battery and leave it for a few hours.Also check the battery connections to be sure they are clean. If it starts check to make sure the alternators is chargeing the battery.
I wonder if your battery is really in an excellent shape. The way you described seem to be non sufficient voltage for the starter solenoid to engage completely.
Make a quick observaton by leaving the headlight on while cranking the engine. If no significant drop on the headlight brightness. Then your battery is assumed to be good. (a cold crank voltage shouldn't below 10V)
Then the remained items to work with is either the solenoid or the starter or both. I believe the solenoid is piggy pack on the starter. Most autopart stores would test it for free of charge.