Worst case, could also be an input shaft bearing.....unlikely but worth looking into.
My GU did it on one particular 4x4 trip, lots of tough low range work.. box was very hot, it also had a low 30K on the clock at the time. Noise was mostly when cold, I ended up changing the oil and within an hour or so of driving it dissappeared.
My GQ is noisy on idle however if I give it a little revs or push the clutch in, noise dissapears. GQ was a little different, the warmer it got the noiser it got. Been like this for some time now. Apart from the noise, no side effects. Did take it to several places whom suggested not to worry about it, Patrol boxes can be noisy for a number of reasons, all of which has been posted previously. Personally think it is input bearing related.