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You need to remove the front driveshaft, then check the u-joints (you will see them, they look like universals joints for sockets) and if they dont move easy as pie its time for new ones.
YOur not supposed to be going 50mph + in 4wd anyways, I surely hope its on dirt roads too. Pavement and 4x4 = no!
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96' T100 SR5 4x4, ISR mod, Custom ABS snorkel, KC 57's Hella optilux el cheapo backup lights. Cobra 19III CB, Firestick 4ft antenna, Bilstein shocks.
Be polite. Be professional. But, have a plan to kill everyone you meet.
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