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As the engine warms, so does the exhaust gases. The hotter gasses move faster and take longer to cool. The sonic reversion your hear (raspy) gets moved back farther and farther in the tailpipe to the point where it is eliminated.
If you want to keep the rasy note, just shorten your pipes.
(Disclaimer: This is a VERY simple explaination. )
Also, it is running richer when cold (more fuel) when it warms up, the computer goed into the closed loop mode and leans things out. This is the main reason that it sounds different when cold.