Please Give Me Peace of Mind... The Tick

I've done plenty of searching and 99.9% certain this is normal, but right when I'm about to not worry, there's the token "rod knock" comment that has me worrying. I have a "ticking" or "tapping" noise that's always audible. More so from the driver's side and seemingly from the rear of the engine. I've noticed that if I get under the vehicle it's much clearer. Prior to searching, I thought it was a loose exhaust shield or leak somewhere. The tapping increases and decreases with RPM. Here's a quick clip of the noise I'm talking about. Just give me the final "it's normal" so I can stop worrying and get on with life. Thanks for the help.

https://youtu.be/dpUhyqTt-LA

 

Wasn't there a thread or maybe I'm thinking about another forum (Honda??) that it's possible like the distributor, timing or something like that? Anyway basically normal...BUT...I'm not a mechanic by any means!

 

Videos are so hard to tell because the sound isn’t very realistic, it’s better at picking up some tones and frequencies than others. But, based on what I can here in the video it doesn’t sound normal.

 

Update: The noise seems to be originating from the catalytic converter. Has anyone else had issues with this? I've only got 53k miles on it, so it shouldn't be going bad, but the shielding seems to be tight, so it isn't that. Maybe an exhaust leak?

 

FYI the cat is covered under the federal emissions warranty for 8 years 80,000 miles.

 

sounds normal to me like my 2016 runner. under the engine on the ground that is normal. when I do the oil changes I do crawl under the engine to look for any leaks after the oil change work,,, engine running.. tick/tack type sounds.
yes a bit more noise than my GM V8 engines ..
if you had any exhaust leaks or converter mess ups that engine light would pop
on instantly....