I had a similiar sound on my 01.. It was the catalytic converter rock sheild had been bent up close enough to just touch the cat and it made that noise, then the next year it was the exhaust manifold heat sheild. I'd start it up, and rev the motor while standing over it and listen for the source, whether it's on one side of the motor or the other or if it's underneath. The heat shields get brittle and break at the points where the 3 bolts bolts hold them on.

Videos of my Sportage in 30" of snow and doing reverse 4wd cookies
Panicmech Cardomain - Headlight 'tinting' tutorial included