my 2007 is 350 lexus is making a loud noise when i start it? on 2007 Lexus IS350

it has 92000 miles and all highway miles but very loud and embarrasing when i start it. can shut it off and restart it and doesnt make the noise

Asked by for the 2007 Lexus IS350
i have the verey same problem with my 350. :( All iv been told is that all the 2007 s make this noise however i am sure that its not okay. i wish i had an answer for the both of us..