Check the oil for antifreeze and check the antifreeze for oil.
Drop by your favorite auto parts store and pickup an automotive stethoscope. There's no way to tell from the video if we're hearing a main bearing, or pulley, or lifter, or an exhaust leak. The stethoscope will help to narrow it down.
I don't think your Baro sensor is the issue but it needs to be replaced, none the less.