Once it get cold or colder out, I always let the jeep warm up 1/4 + on the temp gauge or around 150F before moving it.
This normally takes about 4 minutes or so of run time and if I am sitting in jeep while allowing it to warm, I place the trans in neutral.
I think my cats rattle quite a bit when cold but i ignore it, it is a Jeep thing.
I am afraid to bang on my cats, I think I would loosen more rusty stuff in there =eek.
Rattling all stops once its driven and it's fully warmed up.
After driving a while then with engine still on in Neutral, park brake on, level ground, I think it is also a good idea to check the trans fluid level once a week as well.