Odd noise 2020 Tacoma TRD O/R A/T

I’ve noticed this a couple times now but it seems to be more prominent then before or I’ve just asserted more attention to it. The thumping noise can also be heard from inside the cab. Has anyone had experience with this type of noise? Oddly enough it went away when I cut the truck off then back on, also was shaking a little bit and seemed like it was missing while the noise was happening.

https://youtu.be/axw1sKkmX2w

 

I cant see the video on my end, but I'm going to guess its the D-4S cleaning cycle; 100% normal. If you notice it ticking/tapping at idle and then it smooths out, that's normal.

 

Well it’s not just a ticking/tapping, it’s full on thumping. I can also hear going down the road sometimes if there’s little noise but it doesn’t seem to follow the rpms.