2012 Subaru Outback making intermittent noise when accelerating

My outback is making intermittent noise when it’s in Drive, only when it’s in 1st or 2nd gear. The noise stops when I switch it to Manual mode. Any guesses as to why, and is it something I should take care of right away?

Noise?

What kind of noise?

Tester

Sort of a rattling sound. Not so loud but noticeable even with the windows up

The first thing to check is whether one of the heat shields on the exhaust system is loose or damaged.

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