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Unplug one battery cable. Locate old air bag sensor near radiator support, which has the easy to locate yellow connector. Unhook yellow connector, remove bolt, then remove. Reverse order to reinstall, but don't forget to reattach batter cable.
That indicates a bad pinion bearing. On this rear end it is usually necessary to replace the ring and pinion gears as well as the bearings becasue when the pinion bearing goes bad it will spin on the pinion gear itself causing it to wear thus just replacing the bearing will not work because it will fit loose on the pinion gear and it needs to be pressed on tight.----------First the c-clips are to be removed from the pinion gears.--------Click this link below and follow the detailed procedure:----http://technoanswers.blogspot.com/2011/07/how-to-remove-rear-end-crown-and-pinion.html
This should help.Thanks.Helpmech.
It is very easy to replace either the pinion seal or the cover gasket. To replace the pinion seal, remove the driveshaft and let it hang ( it shouldn't come out of the tranny). Remove the pinion nut and the pinion yolk ( may have to tap it with a hammer). With a screwdriver and hammer remove the seal,,then wipe the seal area clean. Take new seal and tap in with hammer and replace yolk and drive shaft.
Your description leaves open a lot of possibilities, but one common issue with these vehicles are wheel bearings. If you have access to a jack, you can lift one side of the front of the vehicle so that the tire is hanging in the air. Grab the top and the bottom of the tire and try to push and pull the tire toward you and away from you. There should be essentially no play or movement. if there is, your bearings need replacing.
if diying and axle bad replace the whole unit from salvage or rebuild shop.if changing the bearings its a lot of work and you will need some special tools to put back together .first you need to use a lift or again have to remove unit from truck, disconnect battery remove drive shaft,remove pinion nut need large breaker bar loosen bolts to rear cover drain fluid remove cover have someone push axles toward center remove c locks slide out axles best way to remove bearings is slide hammer bearing removal unit remove rear [gears] dont loose shims will see pinion bearing bearing remove and replace now 2 put it back.need shim package, red lead, 4 ring and gear mesh adjustments ,,