2001 RAV 4 Diesel Has anyone had problems with vibration engine noise when starting from a cold contion when engine temp is normal it disappears Could it be the flexible exhaust joint?

this is a very common condition with all diesel engines after they get broke in i,m assuming you have a generous amount of miles on it. when cold they run a bit rough after a while although injector issues can also cause a similar condition and seals and so forth seal up when warm. I'm a heavy truck diesel mechanic and a long time diesel owner if you see excessive oil consumption or the oil gets high on the stick get it serviced asap