I have the same thing in my 01. comes and goes, as it has since I got it at 94K miles, now has 167K on it. I've had noises that I've "Sworn" were lifter noises but turned out to be exhaust over the years. My wife drives the '01 daily. the noise has never gotten worse the whole time we have had it, when it's there it's the same volume and intensity as it always has been, I've kept a close ear on it ready to tear into something top solve the noise. but with us having put 73K on it in 4-1/2 years, and it has not worsened over that time or mileage, and it continues to be dependable as it ever was, I've quit worrying about it!