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Sounds like a Universal Joint to me.. That is the sound of the slop being taken up from the drive shaft. Once they start "klunking" you have maybe another couple hundred miles of use till they fail and your drive shaft falls to the ground while you are driving. If this happens you will need a new drivesfaft as it will destroy the U-joint knuckle.

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Q: 2002 explorer sport trac 4x4 rear end klunks when put in gear?
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