Having a similar problem. Changed all of the pulleys-even tensioner pulley. I would rather change the belt even though I have the complete tensioner assembly. waiting if I absolutely have to go that route. Wondering if it is the belt-only thing that is still on from last year’s pulley change. Only makes noise when I put it in D or R at a stoplight. Once it is warm, all gears make the sound. I know this is an older thread but thought I would post it here to see if anyone can make sense of it.
New Recording.m4a - Google Drive
Goya chance to work on this today and found I needed a new belt and spacers. Here is a post that mentions spacers between the pulleys (top two) and the engine block:
https://www.toyota-4runner.org/4th-gen-t4rs/176587-heads-up-those-replacing-idlers.html#post3651107
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