Could be a loose baffle , in the muffler, that tightened up as the muffler metal contracted as it cooled at idle.
You'll have to duplicate the conditions; check on the road side/ rest area ; with the exhaust system at full temp, to see if the noise is there again.
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99DSDP 3884, Freightliner, XC, CAT 3126B, 300 HP /ALLISON 3060
2000 Caravan toad, Remco & Blue Ox.
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