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Heat Shield is Rattling

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The heat shield under my '02 Rav4, located just before the muffler, is rattling and loose. In checking the forums it appears as though most folks just remove it rather than repairing it. Direct inspection shows it to be badly rusted. Is it safe to remove and forget? Does it make sense to take it in and have someone refasten it if it is badly rusted. Does Toyota sell new ones? Thanks for your help.
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