I talked to the dealership and they told me it could be the exhaust system having a loose bolt somewhere. They also told me this is the first time they ever heard it coming from a 4runner. Unfortunately I wasnt able to recreate it.
I had to take my car in to get some body work due to an accident, but will try to find the location once I get it back.
I was hoping someone here knew where its coming from. Its driving me insane.