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Subarus are well known for having rattles in the exhaust shields under the car. There are extensive heat shields on the exhaust pipes that are held on with clamps. Over time these clamps loosen up and their bolts rust out. When the engine runs through certain RPM bands (as in shifting), these shields come into resonance and vibrate.

If you get under the car and examine all the heat shields you will probably find the loose one. Replace the missing or rusted out bolts and the rattles will go away.

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Q: What would cause a rattling noise when shifting gears and in high RPM's?
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