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Toyota Rav4 startup rattle from engine bay.?

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Toyota Rav4 startup rattle from engine bay.?

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I have a 2002 Toyota rav4 that has a loud rattle coming from the engine bay every morning. The rattle goes away almost completely when i switch into reverse or drive or when i drive away, the rattle returns sometimes but not as loud as when first starting the car in the morning. Anyone have any ideas of what it could be? I forgot to mention a few details about my car. Well its a 2002 Rav4 2 wheel drive and it has only 40,000 miles. No major services done to the car, just oil change and brake pads.

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