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

Rookie cbe0621eac06868b3efe0d8d1d3611e23c60d3114864ea2ec19a68cfbd3eebab
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!
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