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Set the parking brake and put the truck in neutral. Block the wheels to make sure it won't go anywhere. Now get under the truck and turn the driveshaft back and forth. The part that goes into the rear differential will have a little play, but not much. Now push the shaft up and down, and back and forth. Look at the U-joints. The crosses should have no play in the cups.
Bad u-joints are the main reason for a clunk going into gear. If they are ok, drain the differential oil and check for metal. A little bit of very fine graphite-looking debris is ok, but visible metal chips are not.

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Q: How do you check axel gears on 99 Toyota Tacoma Prerunner when I put it in gear it jerks before taking off?
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