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I get the same noise during the same activity as you have. My 2003 has done that since I bought it. The sound I hear is a quick 1-2 second grinding noise, but to me, it sounds like it is in the front, like it is a transmission or the differential gear or something. From a cold start, I back out of my driveway. If I go super slow in reverse, it won't make the noise until I shift to drive and accelerate. If I back up quicker, it will make the noise then. I had my tranny serviced and asked about it and that person did not know, but it was not at the dealer. I've put over 50K miles on it and it has had no issues.
I'm taking the car to the dealer for a different noise that popped up, so I may ask. To me, as it sounds like its from the drivetrain, I wonder if it is some gear in the differential. I know when the traction control kicks in, it sounds noisier.
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