not to be too alarmist, but this sounds an awful lot like a bad bearing in your front differential, where the c.v. goes in. if you search on ttora or tundra solutions, or even try googling, there are a lot of guys who describe this issue and the only cure unfortunately is a new diff. i hope it is not the case, but what makes me see the similarity is the noise going away when 4wd is engaged. i know your truck's height is stock, so it is not as common, this is symptomatic of add trucks with c.v. angles altered from coilover lifts, the angle causes wear on the bearings, whereas a manual hub truck doesn't have to worry.