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Harmless noise. It seems like every FA20 does this. Boils down to either the direct injectors or valvetrain noise or the high pressure fuel pump (the latter of which doesn't make sense to me as this noise only comes on several minutes *after* start up but it's what Toyota told me after I took my new, 1600 mile car in for this very non-issue.)
There's lots of threads and stuff that make note of this noise as well. Perusing the link you posted quickly, I'm inclined to agree with the comment that says you need a new mechanic, or one that knows their way around the FA20.
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