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Mazda 3 2006: Loud noise when cold

When I start my 2006 Mazda 3 auto in the cold morning, there is sometimes a loud noise that lasts for about 20 seconds. It then disappears and for the rest of day it is fine. The dealer lubricated the pulley and belt, but it didn't fix it. Is this just the pulley or belt loosening, or is it something more serious?

Normally I would suspect the valve lifters based on your description of the noise, but I would have another mechanic listen to it and diagnose it for you.

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