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the flyweel has a crack in it it should get quiter when the engine warms up or when your going you will have to replace it Track down the source of the rattle it could be something as simple as a loose heat shield on your catalytic converter or serious like a cracked flywheel. have someone hold the brake while the car is in drive and listen under the car till you find where the noise is loudest.

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Q: How do you fix a car that rattles when idling in drive?
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