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I had a slight vibration coming from the gas pedal some years ago. Definitely not something you could feel through your foot, but it was very much audible.
You can try putting some sort of gasket between the throttle pedal assembly and its support to help reduce it (I used a bit of an old air filter), but it won't do a lot.
What improved the problem the most for me was switching back to 17" wheels with milder tyres.
Overall, the best advice as for rattles in this car is to live with them. It's a cheaper Toyota, not an Audi. It will probably outlast the Audi, but will do so rattling all along the way!
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