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Arrow is right. There is an additive that needs to be put in those rears. But dont think the rear is the prob. Driveshaft is.
 
I change the Rear oil on my dodge and it requires Limited Slip additive. Like the other said the studdering would be felt at lower speeds. Thats what I felt before the dealer replaced the rear diff in my truck. On a previous vehicle I had the drive shaft replaced a few times because it was not aligned and caused vibration. Anyway looks like your getting a professional opinion, good luck!
 
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