click, click noise when in drive with foot on brake

Hello all, just picked up my first taco (2003) couple weeks ago, loving the truck, just sorting out a few things on it. One of which has been a bit disconcerting is when the truck is well warmed up and you place into park/reverse keeping foot on the brake there is a click, click noise or almost like a gear not meshing properly noise. I Just had it to the Toyota dealer ship and they advise me this is a common ailment with this vehicle, the tech tells me that the other tech at the shop told him (his tacoma same year) does same thing, just what they do??...has anyone else encountered this nagging noise, if so is there a fix?? thank you for any responses, new out here so not sure if there has been a post on this already.
Scott

 

If you have the v6, the ticking noise at idle seems to be "normal" as all the v6s seem to do it, even from brand new. This has been brought up before:

http://www.tacomaworld.com/forum/1st-gen-tacomas/90575-3-4l-engine-tick.html

http://www.tacomaworld.com/forum/1st-gen-tacomas/99556-clucking-noise-when-idle.html

http://www.tacomaworld.com/forum/1st-gen-tacomas/2664-tapping-noise-idle.html

 

thx for the reply, i guess this is common do you know if this is more pronounced when foot on brake in Drive, sounds louder as you pull away as well..

 

discovering some interesting stuff as i investigate this noise, the culprit appears to be the slip yoke, grease it up and it stops for a period of time, you can also change driveshaft97-2004 were infamous for this, newer trucks apparently do not use the slip yoke... so there we go
thx all