I have a '98 Toyota 4runner ( i know i know not exactly a racer, but I am working on my Honda so...)  Anyways my 4runner has been making this grind type sound only when I take off from being parked.  After I start driving it doesn't do it again.  Until I park for a while, and then start driving again.  Right when I take off its like a slight grind, and I can feel it.  I was thinking maybe transmission, but I'm really hoping its something else.  Any thoughts??  

There is know way for me to know for sure because i did not hear the noise you are talking about, but depending on where it is coming from it can be transmission and or rear differential or front differential (if 4wd). is it auto or manual trans? if auto does it grind when you let off the brakes or when you give it gas? how much gas are you giving it when it grinds  

It is auto (2wd) with about 130k miles on it.  It doesn't matter how much gas I give it.  I have tried gassing it a bit on take off, and I have tried taking off like grandma but I still get the grind.  Like I said it only happens on take off and only after it has been parked for a while.  If I pull up to a light then take off after I get going it never makes the sound again.  I know this is crazy trying to explain it because you guys aren't here, but I'm just looking for ideas thanks for the input.