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I have a 2013 Rav4 LE 51,000 miles. During the past 5,000 miles or so I have noticed on occasion a metallic "tick" sound from left front when shifting from park to reverse and sometimes drive. I also occasionally hear it when accelerating from a red light stop. It doesn't happen all the time and sometimes the "tick" is louder than other times. It appears to be only when I shift from park or take off from stop and I am always going straight when it happens. Nothing abnormal in the feel of the drive or steering. Anyone else notice this? Any thoughts or ideas? Appreciate any info that you can provide. I will probably ask the service department at the dealer on next visit. Thanks.
 

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For the last 2 years ( 50,000 miles) i can here the sound you are describing from my 2010 4 cyl RAV4 (115,000 miles).
Problem doesn't get worst with time.

Doesn't keep me awake at night.
 

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Most likely the pads moving in the calipers as one or the other has become worn.....not to worry, a nuisance rather than a problem....
Most noticeable when changing from forward to reverse, or the other way...
 
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