You need to check the gears in the differential and the U-Joint at the differential. Before you open the differential though find the fluid level check bolt and remove it. Stick your finger in the hole and check the fluid level. If it is low fill it and see if that solves the problem. I would look at the u-joint and fluid level and if both are good then look inside the rear differential. If the fluid is low you need to locate the leak
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