That almost sounds like a loose license plate holder vibrating like crazy, except inside the car.
Time to isolate the issue.
Here is what I would do.
If you have a subwoofer, unhook it, and see if the noise is still present (don't plug/unplug on the fly, turn the system off and on when plugging and unplugging RCA inputs).
If yes, then you know it's either the subwoofer causing it or the cause if it is actually the subwoofers or the enclosures that have a problem.
If no, the noise is still present after turning the sub off, leave it off and go to the next step -isolating each corner of the car.
First, the right front corner.
Turn your balance all the way to the right, then the fader all the way to the front.
Play it as loud as it did with everything playing and see if it generates any noise over there.
Second, the left front corner.
With the fader already turned all the way up front, turn the balance all the way to the left, play it as loud as it did with everything playing, and see if it generates any noise over there.
If after you've tested all that, you still get noise out of the entire system, then you need to isolate the source from the amp.
Go to the amplifiers, pull all the RCA's (mark them with a sticky or a piece of masking tape as to which goes where and prevent them conta cting eachothert) then get a 3.5mm or USB-C to RCA cable, plug your phone or laptop into 1 or 2 channels at a time on the amplifier(s) and play something off Your playlist, YouTube, anything you can use off the phone (or laptop)
Here is the cable, and it's got all three connection options:
Then let us know what you find.