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RCrawler drivetrain is fine thinking about lift ,tires headers the exhust manifoldes need to come off all rusted from sitting in driveway for two years i had company truck so i dident need to drive it . now i dont have company truck anymore
It sounds like a good project to me. If it is in that good of shape, you can spend more money on upgrades and less on repairs.
If it has been sitting, I would recommend changing all of the fluids (trans, transfer case, differentials, engine oil), checking hoses and belts for dry rot, and check the antifreeze SCA levels (coolant protection against cavitation). Also wouldn't hurt to pack the front wheel bearings. Doing this will lessen the headaches down the road.
With proper maintenance, you can expect it to last for a long time.
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