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You have solved your own problem. But factory u-joints do not have grease fittings remove drive shaft and check for free movement of joints in every direction .
it may just be the heat shield on the muffler, they are held on with tack welds that break easily. when the truck is cool crawl under it and look around the muffler and catalytic converters for a loose heat sheild.
Readjust the Serpentine belt as the solution for the chirping sound. The check engine light could be a lot of things. Take it to the local Auto parts store and ask them to read the fault code for you. It is most likely the O2 sensor needing replaced and is an easy fix.
When turning, it produces a torque load on the rotation of the engine. The turning and this noise is heard, and can be duplicated while sitting still, sounds to be from an engine mount, or transmission mount that has or is failing. If more info is needed, please leave me more info. Craig
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