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In wording in your initial thread you did very well describing when the noise is heard.
It does sound like the noise is heard any time the engine is shaking slightly against it's motor mounts. That would happen at higher idle when engine is cold, also when a load is put on engine as when a/c compressor cycles on, or even when alternator is working hard.
That aluminum skid plate is, in places, mounted very close to heat shields on various exhaust parts, front and sides of engine. Even a slight bend in aluminum can cause a rattle. Other possibility is rock or debris between aluminum plate and other engine related parts...notably exhaust.
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