oh boy! You and I are in the same boat! lol I have a 2000 Kia Sephia and it is notorious for problems! Check wire harnesses leading to starter, and have mechanic check ignition/spark plugs... especially if it running/idling rough. Had the same problem with the same make and model. I'm not sure exactly what caused the problem but it only happens when the gas tank gets low. If I keep a half a tank of gas I don't have the problem.
There could be a number of causes. If the car is making the sound whilst stationary it could be a slipping fanbelt, or could be a problem with bearings. Water pump bearings are a common cause of such noise. If the noise is occurring only whilst travelling. It could be wheel bearings or rubbing brakes.
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