Weird Grumbling Noise in Reverse

Hello TW,

So I've had this gremlin for a little while. When I am in reverse I will get this weird grumbling noise from what seems to be the front driver side. It only happens when in reverse (2wd or 4hi) and when it's cold outside. Engine temp and drive line temp don't seem to make a difference, nor does wheel position. I am lifted 2" in the front, spc UCAs and have the diff drop from toytech, so the front driveline angles are not stock.

I took it to the dealership and they were unable to replicate the sound, despite it being cold outside. I even tried to replicate it with a tech to no avail. The only difference between home and at the dealership is I took my RCI skid plates off for them to have easy access to the undercarriage. So either the skid plates are causing it or just bouncing the sound up into the cab.

Im going to be taking it back to the dealership or local toyota off road shop to see if they have any luck trouble shooting. Figured I'd reach out to the knowledge here to get a good idea for the techs to look into. Below is a video of the sound. Any advice is appreciated, thanks!

 

Exhaust pipes touching something?

 

No. It is close to touching the transfer case skid when it crosses over the the passenger side, but it shouldn't touch. I'll grab a buddy and have them throw it in reverse and I'll look to make sure.

 

I finally got someone to look underneath while I manned the driver seat. 100% the exhaust hitting it where to crosses over to the right side. Never thought it would move that much and never heard it during the summer. Thanks for the advice.