If you see discoloration at the u-pipe that connects the cat to the muffler, that probably means you have a leak in that area, and most likely, it is a clamp issue. Either retighten the clamp or get new clamps and retighten them, and your problem should go away.
The reason that the sound only appears when the car is warmed up is because the metal expands. I had the same problem with one of my clamps at the u-pipe that caused a rattle at idle, but only after the car warmed up. It turned out to be a bad clamp.
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