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Originally Posted by JohnYu
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Uh, if you have a friend or local shop you trust and can get it on a lift, I would just carefully inspect undercarriage.
You could have bent an exhaust shield or hanger something, or maybe some road debris flew up and got caught between two metal parts of the car, and now grinds or rattles depending on the circumstances.
On the bright side, its not likely to be anything critical if nothing was found after the dealership carefully inspected. Warranty work or not, if it was something major, I'd like to think they would be both competent enough to identify it and more than happy to fix it -- they get paid either way.
Keep looking under the car on the lift, you'll find something and it should be relatively minor.