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Welcome, I'm Chris (aka Moose), my normal schedule online is around lunch and after dinner till early morning.
Since it occurs in reverse when stopped, that rules out things which are spinning. I suggest checking the motor mounts and the exhaust heat shields to see if they are the source for your noise. You may need to get the vehicle on a rack to listen from underneath.
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Thanks for using Just Answer, Chris
Yes this info does help. The check engine light now on may be a code related to a source on the engine for this noise. Anyway you can get it scanned to see which codes are stored?
Hello again Chris here,