Help Please: Engine Noise Concern

Hello I have a 2019 Tacoma TRD Sport with 85k miles. I have started to notice this engine noise while idling and driving ever since some friends pointed out that their Tacoma's don't make the same noise. I have tried to do some research online and heard that the noise was normal, or it was a cleaning cycle, but I hear this noise almost every time I start the truck and drive it. I hear it a lot after driving for 15 min+ and i put it in park and Idle. I have taken it to my mechanic and they couldn't seem to find the issue, they replaced the oil and filter, added the oil booster, and replaced transmission fluid, but no luck and are recommending me to take it back to the Toyota Dealership. I have been on top of oil changes and maintenance. I am just concerned and wanted some guidance on what steps I should take moving forward. Is this noise normal? or should I take it to the Dealership? Any advice helps thank you so much.

Here is a video of the noise: https://youtube.com/shorts/B7f9XJbS6lo?feature=share
I tried to embed but kept getting an error

 

Original spark plugs?

 

Yes original spark plugs but i had them checked with the mechanic, he said that they were good for 30k more miles