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I finally took it to the dealer to get diagnosed and they said it was worn clutch discs in the rear diff. They replaced the clutch pack and also put some motorcraft friction modifier in the diff. It’s completely silent now, but I wonder if thats the friction modifier helping. This was covered...

I'm wondering if anyone else has experienced a brushing/groaning noise when making tight turns, particularly in reverse. Wasn’t sure where it was coming from at first, but now I’m confident it is coming from the rear. After a while of trying isolate the noise, I’ve narrowed it down as follows...