Toyota Avalon Rattles

Here’s what happens to my car: If its in park you can floor the throttle and its smooth and quiet for the most part. Same with reverse. I can put it in reverse, back up hard and it’s smooth. When i put it in drive, stationary, it sounds rough. When I’m taking off from a stop it sounds rough until I’m at a good cruising speed at which point it seems smooth, until stopped again … … The noise is rough in both drive and reverse. Note: this stops for about a day after hoisting the rear end. Also, when going down the highway, the throttle "pauses " for a moment, then resumes speed about every 5 minutes …

What year and how much mileage