Rattling/ knocking noise around 2-3000rpm

[Gezza]

My Yaris is 3 years old. For the last two years I have heard a loud rattle sound, usually on a slight incline and around 2-4000rpm.
The dealership have ‘investigated’ but are continually unable to locate the noise. It is difficult to pinpoint the location of the sound. It’s potentially from the other side of the driver’s footwell or coming from low down within the centre console.
Is this common ? How have others rectified this?

[NYC-SE]

Probably a loose exhaust shield vibrating against something, a fairly common issue with these cars. If so its nothing to worry about. Crawl under the car and investigate. You should be able to bend / adjust the shield so that it is not hitting anything.

[Gezza]

Thanks NYC