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Have yu looked to thought that it could be drive train related? Ive seen this on sum models , 2.5 and also 3.2 TD. One i have noticed this on sum models , Pajero Exceed 3.2 and a few 2.5 TD the drive belt tensioner pulley , when warming up at low acceleration the tensioner and pulley vibrates at low engine speeds, makes a light GRRRRR noise. Also , passive bosy heat sheilds on the down pipe , as they expand with heat , and sumtimes they rust at the turbo stay to collector pipe, and when warm thay chatter/grrr noise.
Yu may also wanna check yur charge air collector out and in pipe to make sure its not rubbing anythin near. On sum models tho , a chatter /grrr i have found to being omitted by the turbo charger turbine . Because of poor oil or coolant circulation. mainly oil passaged slightly clogged due to heat. A worn turbine bearing will cause this also. But in aspects it would be lack of oil circulating to the turbo, as for when the engine is kault/cold the oils viscosity is thicker , so the pressure is higher at idle and other rpm , but when the engine is warm the oils viscosity breaks down and becomes a little thinner , so all the high pressure high libe properties are nto there anymore.
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