Loud grinding/rattling noise - help identify.

This has been driving me insane, and Toyota has not been able to diagnose it properly. There is a loud grinding noise that happens sporadically that comes from either the driveline or transmission. Toyota blamed it on one of my skid plate bolts rubbing on the driveshaft. I actually thought it was the issue myself the first time I was looking for the source of the noise. The noise, however, happens when both the vehicle and driveshaft are stationary. I've also had the skid plates installed for 10k miles and this noise just started recently. The noise usually goes away when I shift into N or R, but that's not always the case. I recently had it only make the noise when in R but went away when shifting into D. The noise also only happens in idle or low RPMs, and is not audible when driving normally.

I'm attaching a video of what it sounds like, hopefully someone can help me pinpoint what to look at. Thank you!

 

I had rattling noises when going over 30 mph or downshifting ended up being my u joints needed to be greased up(whole driveline) I just replaced them cus they were far gone, ik not what your experience is, just sharing

 

Sounds like exhaust rattle

 

Maybe a heat shield is loose.

 

When in park or neutral, does the rattle get more pronounced when you step on the gas? Like said could be a loose heat shield.

 

Hey @artilleries, were you ever able to diagnose the cause of the rattling?

 

I had the same rattle at 300 miles on my 2020 OR, after 4 hours at the dealership an old mechanic started beating on everything under the truck with a dead blow hammer found the transfer case skid plate was pressed against the exhaust, it wore a 1/2 groove in the skid plate and had almost worn thru that side of the exhaust pipe. Dealership replaced all parts and moved the exhaust hanger to a different angle with no issues.