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Need a bit more information.
How many miles are on the Corolla?
When did it start making this noise?
What is the maintenance history of the car?
Any modifications, repair work done recently?
Could be a number of things making this noise. One is transaxle issues that Kyle Hamelin pointed out. Another could be the noise from the axles binding up on you, from the engine and transaxle mounts that are excessively worn out. Usually they make a clunking noise more than a grinding noise, but if it has been doing it for a while, it could start making a grinding noise. Launching from a dead stop will put a lot more strain on the powertrain than flooring it from speed - so it makes worn mounts even more likely.
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2002 Corolla S, 1.8L 1ZZ-FE VVT-i
2003 Matrix XRS, 1.8L 2ZZ-GE, VVTL-i (RIP)
2009 Matrix XRS, 2.4L 2AZ-FE VVT-i
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