Rattling noise from drive shaft to transmission

Hey everyone, got a new (to me) 2013 Tacoma with the TRD offroad specs and have just noticed a rattling noise coming from what seems to be where my drive shaft meets my transmission and unsure as to what this could be. Any help would be great.

 

Make sure its not an exhaust heat shield first. They love to break and rattle over time

 

It happens when I shift to drive and reverse and then will go away depending on what my truck is idling at. So at about 500rpm the sound occurs and then my truck will by itself jump in rpm to maybe 8-900 and it goes away. It will also make the sound when I’m just starting to pull away from park.