Not been on here for a while, hope all is well.

My previa is still going good, now done over 80k but starting to develop some niggling issues.

When I am stationary at say a set of lights and the car is in drive, sometimes the car starts to shake or jitter but is then ok when I drive off? Can be ok most times but then sometimes its very shakey? secondly, when I start the car, it makes a whip sound when I drive off, is this a loose belt?

Also, I have a knocking noise coming from the passenger side, probably the CV joint? normal wear and tear?

Car has been serviced well, only went over on one interval but not by much, plugs and filters all changed.

Would appreciate any advice anyone can give, its a 02 petrol cdx.