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Mine does the same thing. Just as you said, to a T.. Can you tell me if you found the problem? Mine only has 42000 miles, it's a 2002 CC PSD 4x4 as well. I purchased it used @ 39,500 miles and really didn't notice it at the time. Thanks...
is your truck lifted? If so, I found a shim kit to lower the carrier bearing to straighten out the shaft. Helped alot, still has a bit of vibration. I have heard that the best way to eliminate it is to replace the 2 piece shaft with a one piece. I may try that myself someday.
I have the same thing - I replaced my f250 rear blocks with F350 blocks and a have a slight vibration when I accelerate. It's the carrier bearing that I need to lower a little bit - but if I have weight on the truck it doesn't do it - I guess I'm squatted back down to where the angles are good... I notice it the most if I'm pulling a heavy loaded trailer with relatively little weight on the back of the truck - it'll do it really bad then!
Had the same problem with my truck drove me nuts, most of the lift kits don't give you the correct shims so I reshimmed it to get the correct angle and replaced the carrier bearing (the shudder taking off will tear it apart after while) about 20k ago and have had no problems