Weird 4Runner noise?

I have a 2001 4Runner 4wd. A weird noise has started. Sometimes it happens and sometimes it doesn’t but when I come to a stop and have my foot on the break a weird rattle starts it’s not consistent sometimes it will stop for like 5 seconds then start again or not at all. I stuck my head out the door one time to... show more I have a 2001 4Runner 4wd. A weird noise has started. Sometimes it happens and sometimes it doesn’t but when I come to a stop and have my foot on the break a weird rattle starts it’s not consistent sometimes it will stop for like 5 seconds then start again or not at all. I stuck my head out the door one time to listen and it sounds like it might be coming from the skid plate from the middle of the car. When I start driving again it goes away. It only happens when I’m at a stop.
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