Avensis exhaust chirping noise

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Lads this one is confusing when car heats up when ticking over there is a chirping noise it sounds under the car where exhaust meets engine I can’t pinpoint exactly where

when I put my foot on the tail pipe of exhaust it goes away it only happens when car heats up when I rev car slightly it goes away and comes back when revs drop under 1000 rpm would it be pulleys or belt anyone have this problem