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Toyota Estima Noise when Gearbox in D


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Hi guys, hope someone can help me out with a noise coming from the top right corner of the car (drivers side) when the gear transmission is in 'd' and my foot is on the break. It makes a weird sort of high pitched rattle sound which disappears when driving normally. I can't be heard when in Neutral or reverse. Help!

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2 minutes ago, omairriaz said:

Hi guys, hope someone can help me out with a noise coming from the top right corner of the car (drivers side) when the gear transmission is in 'd' and my foot is on the break. It makes a weird sort of high pitched rattle sound which disappears when driving normally. I can't be heard when in Neutral or reverse. Help!

I have attached a video to help with any advice/potential diagnosing 

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