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Hello and welcome to just answer, my name is ***** ***** master tech here to help. I read your question and watched the video. I have a question before we proceed. Does this noise go away after a few seconds of running then normal for the rest of that drive?
WHAT YOUR EXPERIENCING IS THE vvt DRUMS ACTING UP AND NEED TO BE REPLACED, THIS IS QUITE COMMON ON YOUR YEAR VEHICLE .i DON'T KNOW IF IT WILL BE UNDER WARANTY OR CAMPAIGN BUT THERE IS A BULLETIN ON THIS FROM Toyota.
The VVT drum is at the front end of the camshaft and adjusts cam angle due to engine demand.
here is a pic of what it looks like.