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If it's not the heat shields, check the catalytic converters, the innards detach and rattle around inside. Also check both hangers on the front of the back box, one of mine snapped. It took me ages to find this as it looked like it was still in one piece plus it only rattled when it got hot.
While you are under the car, check to see if the lambda sensors are tight plus the spark plugs are tight, they have a tenancy to come undone.
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2003 Boxster 2.7L
2010 Civic Type R
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