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All the injector lines up tight? As the acc pedal is electronic and it doesn't do it when your foot is on the pedal it sounds to me a fuel leakage and the rattle is the engine sucking in air from somewhere. When you put your foot on the pedal and start it, it must be stopping the air from getting in the fuel line/s. I remember my older Patrol having air sucking in from an injector line and it gave an awful rattle.
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