Ticking noise from 3.0 V-6

My 92 4- Runner had the same thing. I only have 58,000 miles on it. What I found was loose bolts where the exaust manifold bolts to either the cross over pipe & or also where the main exaust pipe bolts to the whole cross over assembly. If these bolts are loose you will hear the valve or tappet noise that comes from the engine when it is revved up or down. They are kind of hard to get to. But I took mine to a garage it has been the best $50.00 I have spent on this to just get the bolts retightned because the gasket is most likley still good. Anyway that fixed my engine noise!