With the truck cold, try to beat on the catalytic converters with you hand and see if it rattles. I'm thinking the core may be lose. If you hear a slight clunk, that's probably it. Unless it is something you can't live with, you can leave it for a while. If it get's worse in time, then replace it. Not sure what your muffler design is, but it could eventually partially clog it. If it were a gasser, I would say get it out as there are 2 converters. 04 and newer cats were mandatory. Heavy fines if your caught without it. There's a slim chance of that happening unless you like to smoke.
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