Intermitent engine noise at cold start

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2005 PRADO 1KZ-TE/ KZJ120R. AUTO. LOUD NOISE AT COLD START , SOUNDS LIKE ITS COMING FROM THE BOTTOM PART OF THE ENGINE, GOES AWAY AFTER FEW MINUTES AND CAR RUNS NORMAL AFTER THAT. ANY IDEAS WHAT COULD CAUSE THIS.
Noise is Loud as if something is going to fall apart. Open the YouTube LINK FOR NOISE SAMPLE. THANKS