ID the noise

I have this rattling clanking noise that has been getting worse. It's under warranty but Toyota of Seattle told me they'd charge $200 if they deem it to be nothing (?!?!). Please help. The sound in the video is low, turn it all the way up, you can hear a low rumble clanking noise (low tone), I promise it's way more annoying in person.

The noise occurs when driving or when stopped. If I coast (close throttle while rolling) it stops, comes back when I crack the throttle back open. Happens when stopped, only if trans in drive. Switching into 4x4 does not make it stop. Doesn't always happen which is why I'm reluctant to take in to the dealer.

I'm the first owner and I have not molested the wheels, suspension, electrical or mechanics of the truck at all. Just full skid plates, a-arm skids, rock sliders. With the armor and my gear, there's about 1,000 lbs added weight to the truck.

TIA.

30k miles
2023 TRD OR Tacoma V6 4x4 DCLB Automatic 6 speed

https://youtube.com/shorts/N0vTZREsMlc?si=EOSqb33kEqh9qEwV