Funny noise on cold start

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Do you have the part number for the idler pulley bearing?
Bring your pulley or bearing to a napa store and they should be able to give you a replacement. its a common bearing, ive replaced mine this way
 
Hey, I know this noise! Sort of glad to hear it isn't the power steering pump also. It goes away fairly quickly, but just another thing to put on the list to address. Thanks!
 
That sound sounds an awful lot like the ABS accumulator pump. Its a sign you accumulator is failing and the sound you hear is actually fluid hammer from the accumulator going into the pump. it happens to my friend's 100's in Saudi Arabia but not so much over here. It happens to alot of 4 runners here though. Listen for the screeching in this video. If you just turn the key to the first position and still hear the noise I bet that is it.
 
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