Welcome to 2CarPros.
Does the noise go away when you press the gas? Also, although the heat shields may be good, there is a chance that the catalytic converter may have come apart internally. That isn't something you can see.
Try this, take a rubber mallet and tap on the exhaust system in all different places to see if you can recreate the noise. Do that and let me know what you find. I attached a few pics to help you identify the catalytic converter. The locations shown are either under the vehicle or in the back of the engine off the exhaust manifold. It is based on production dates.
Let me know if this helps or if you have other questions.
Joe
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Saturday, June 8th, 2019 AT 9:54 PM