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My Trooper has 19300 kilometers on it and for some time I have been concerned about the noise from "back there" and decided to something about what sounded like a box of rock rotating. :)

I pulled the drive line out and looked to see how much grease was in the CVs. There was grease in there, but not a lot, so I got a pack CV grease and filled both to the brim and put the boots back on, took it for a test ride and WOW, all I could hear while coasting down a hill with the engine off was the sound of my new tires. Yay!!!!

Jeff

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      So heard the grinding noise on the drive shaft a couple of times while going down a steep hill. Never heard this before going down the same hill. I already knew about the splines wearing out because of improper heat treating so I went through the process of removing the shaft to just replace it. A lot things need to be removed to get that thing out. Once I had it remove I didn't see any wear on the splines but what I did notice was the rear spline to rear differential had ZERO grease i.e. it was completely dry and I could see rust that had developed on the shaft splines and inside the differential mating surface. The front of the shaft where it connects to the transmission was well greased. Both ends of the shafts have springs in them with the rear spring being multiple times heavier which would force the shaft to mate securely into the transmission. Unless of course the rear is rusted and starts sticking which is what I think was happening. If the rear splines begin to rust and it starts sticking and the spring doesn't have the enough force to overcome the sticking because of the rust, the shaft will not get fully seated into the transmission. If this starts happening frequently it will eventually eat up the front splines on the transmission side shaft splines which is exactly what I see in the pictures of stripped splines. 
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