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Definitely the Engine RPM. the drive shaft doesn't move when im hard on the brake and reving the engine. So its definitely a noise coming from the engine compartment.
Mine is actually at higher speeds like 40+, and it is only when I step on the gas. when I let off the throttle the sound will go away but I will still be coasting at 40+ It is noticeable in the cab even with radio and conversation
I dont know if the original poster got his answer, but check out the other post above about exhaust noise. FTJohnson had a great idea and there is a TSB attached. I believe it solved a long term metal rattle in my 2003 4.2L.