RealDrJ

My 00 XJ classic stock has an odd noise coming from the rear, I haven't been able to let someone else drive it so I can hear exactly where it is coming from under the vehicle, but it is only when in drive with my brakes on stopped for a few seconds (usually when sitting at a stop light or something). When I hit the brakes and sit stopped I can hear a noise, sort of ticking, coming from the rear of the jeep. Sounds like it might be exhaust, but if I mash the brake pedal down, it stops. After driving around for awhile or after mashing the brakes a couple of times it doesn't happen anymore until I drive it again. Any ideas?