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Tacoma3G is a beginner-friendly 3rd Generation Toyota Tacoma forum (2016-2023 model-year specific). We are a small community of people who are focused on good information and good vibes. More about us....
It might be the idler pulley. Mine does the same thing, dealership couldn't figure it out, but a local mechanic did. He pointed to the pulley while the engine was running and you could see it wobble. Said it's a baring inside. You can read Toyota's description in the link...