Could be coming from any number of sources and is probably just fine. With so many moving parts (Steering pump, alternator, A/C pulley...) it would be hard to nail down. Every machine makes noise. As long as it doesn't change, it's good. Think of it as your TITAN's heartbeat.
Im just glad my Titan idles at the same even speed. My Mustang would idle real fast then almost die sputter and shake then finally idle at the correct speed. The guys at ford could never duplicate the problem ( yea right). So I just put up with it.
might be the TSB #04124
it has something to do with a ticking from a/c system solenoid valve and service port. shows you the part that causes the ticking and how to tell if you have the new version of the part
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