Now, funny story for all of you...but this is so stupid its not even funny.
Last summer, I took a trip to the local 1/8 track. About halfway down the track after the 2-3 shift, I started hearing a rattle, similar to what you describe. It never got worse, and I had no driveability issues. I have no cats, and no heat shields.
I chased this noise for months. T/O bearing was squeaking anyway, pulled the trans and the bearing was terrible. I was sure this was it. Still continued. Finally I got back to basics, and just started chasing everything. Anything metal got tapped with a rubber mallet...and wala, my bank 2 upstream O2 worked loose! The harness will keep it from coming all the way off, it just sat in there and rattled its ass off and drove me crazy for like 8mo.
So, check your O2's.