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I had an FJ40 that did this. Turned out to be spiders and the shaft thtat were buggered, the ring and pinion were fine. Take off the cover and have a look.
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1985 FJ60, 300HP SBC, NV4500, NP241, 14-bolt semi floater, 4.56 gears, four wheel disk brakes, 35" BFGs, 350,000 happy miles and still going.
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