my 2006 Avalon makes a noise sounds like it could be a rubbing noise (to put it indelicately- it sounds as if someone is passing gas). The noise appears to originate front of the center console and as best I can tell it is totally random - it happens during acceleration, stopping, sitting still, etc.
The climate control system has little air control doors and one of those might be in need of lubrication, damaged or dragging in debris.
Turn the AC/heater completely off and see if the noises stop.