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If it is bad enough you can hear it rumble as you drive the vehicle otherwise you can jack up the rear of the vehicle and support it safely, strip the calipers, brake pads and rotors off, grab the axle hub and try to move it up and down. There should be little or no up and down movement, in and out play is okay. Notice also if you have leaky axle seals, that would be another clue. If you have excess play in the axle, you probably have a worn out axle also. The axle bearing rides on the axle so when an axle bearing goes, so does the axle.

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