I have had the same noise ever sense I got mine. Asked the dealer and they said it was normal. I also checked the owners manual and it confirmed what they said. Something about a pressure valve if I remember correctly. I know what you are saying though; sometimes it sounds awful!
Out of the three vehicles with the 4.7L V8 in my family, the 2005 and 2006 4Runners do not knock. The GX470 knocks on start up. We use the same exact gas in each truck. I don't think it is anything to worry about though.