3.4L engine clanking,advice?

Hey guys,
I'm new here and need some advice!

I took out my 2004 Tacoma 3.4 (135k miles) on some trails the other day, went around a bend and hit a dip going maybe 15mph, noticed a loud tearing sound but everything seemed to be fine afterwards. I've never beat it to the ground,nor overheated it. Went driving around for another hour or so on the trails.
While heading out of the woods, I was accelerating on the highway (maybe got to 45mph) and all of a sudden a loud clanking sound is coming from what seems like the engine. Stopped truck to look,clanking is happening while Idling and gets faster and louder with acceleration. Almost sounds like metal on metal,which worries me. Read a few things online and some people said it could be a rod. However if it's a rod,wouldn't it decrease with acceleration? I've included a link to the video of it idling, the sound in the video is pretty accurate as to what I hear in person. It's a noticeable loud clanking.

https://youtu.be/I8cbp7Zm2Fw

Any idea what it could be and what this could cost me?

This past year I had the radiator replaced and a head gasket job done,which set me back half of what this truck is worth...I purchased this for the "reliable" engine and it's given me more trouble than when I used to own a VW years ago, which says a lot.Any advice would be appreciated, thanks!