No, it's a 2004 LX470, not Tundra, although they share same engine I believe.
I got this LX in 2018 at 199K miles, and put 3.5K miles since. Was planning to build a overlander but job relocated to NE so didn't spend enough time with it. I have replaced oil/filter, ATF, Tx Case Fluid, F&R Diff Fluid, and AHC Fluid. Also the timing belt got replaced earlier 2019.
During the past 2000 miles, the engine surfed with random misfire code, and some time it ran roughly during cold start. However, replaced a new battery in Feb, and it seemed having cured the misfire issue. This week I replaced the spark plugs and inspected all coil packs were in good shape. Found the old plugs were cheap copper one, one coil pack was very loose, and some plugs were very tight.
I don't think the misfire may relate to the noise but give full background of this rig.
Will do a oil change over the weekend and also try the diy stethoscope to see if anything can be found.