I have a 96 dakota sport 2WD 3.9 l automatic 77,000 miles. I just recently got this truck and once its warmed up if i pull in driveway and drop it into drive and throw back into reverse or drive once it shifts into gear for at least one second i hear a loud rattling noise and immediately goes away. Sometimes it does it sometimes it doesnt. Any ideas of what it may be? Its not a pleasant noice. tranny shifts fine no burning fluid

 

Welcome to DF

Maybe loose exhaust or heat raiser (if it has one) or an o2 sensor. I will more your post to the 1st Gen Dakota section.

 

Maybe check for heat shields.