I have a 2004 ford f-150 5.4 triton new body style and the exhaust makes noise?

It does not make the noise when i'm in park or neutral
however when i put it in reverse or drive it starts making like a ratttle noise?
kind of sounds like the ehaust is loose but when my boyfriend checked under it
it seemed fine. It only does it about 15 minutes after being started
but there's days when there's no noise at all

Get under the truck and slap the catalytic converter, if the interior has disintegrated it will rattle like it's filled with gravel.

What would it take to bring the truck over to a MUFFLER SHOP, and have THEM LOOK AT IT?!

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