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You need to get a manual that explains this procedure. This is a complex operation that can't be adequately explained here.
get the universal joints checked on your driveshaft.
Front 3 are easy , back 3 are difficult, but possible from underneath with a good socket set with universal joints.
If you don't have a press take it to a shop and pay the $1000 trust me.
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It depends on the year. Most of the newer trucks do not have any. Check the tie rods, ball joints, and u joints.
Worn/loose u-joints are very common.
5000-7500 miles
disconnect everything connected to the axle (make sure you label everything and where it came from) line up new axle and follow your lables and reconnect (if you have the axle out may as well change the front driveshaft universal joints while you're at)
Universal joints in the steering intermediate shaft are starting to seize. Get a new one at rouckauto.com.
how do you chage bracke pads on a 355 2004 dodge diesel truck
V8 5 quarts Diesel 12 quarts