Clicking noise just after shifting from reverse to drive on 2003 Toyota Highlander

2003 Toyota Highlander with 56,000 miles. When I shift from park to reverse and back out of the parking spot, no issues. Then I shift from reverse to drive and as the car takes off there is a clicking noise briefly heard from the engine. Hoping this is normal; I just purchased this vehicle used so I am still getting accostomed to it!

Asked by for the 2003 Toyota Highlander