It's age, but it could be something you could fix by tightening up a few bolts. It's probably happening when you are driving too, but you might not notice.
When the engine is cold, try jacking up the car (place it on jack stands to be safe) and gently hit a few things under the car to see if that is what is causing the noise. If you find the clanging sounds (most likely exhaust) you can either tighten up bolts (might have to replace hangers if it's the exhaust).
You can also take a look at the motor mounts (where the motor mounts to the chassis). If they are work, this could be the noise you are hearing.
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