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It is fixed on either end to your transfer case and your rear axle.

It only moves when the axle moves.

The thump comes when the slip joint binds and suddenly lets go as the axle moves upward or downward.

The shaft should extend slighty when braking and compress when accelerating as the tail rises and descends.

If you have ever repacked a CV joint this sounds far easier. I'm going to do mine in a few days.

The joint is located under the rubber boot that covers the portion if the driveshaft near your transfer case.

You need to separate the drive shaft to expose all the splines to properly clean them up.
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