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No, sounds like the transfer case is shot. Your is an all time all wheel drive. It has a clutch pack in the T case. They go bad. They will cause the tire to skip and jump, not the CV axle. Pricey fix and no fun to remove. You can remove the front drive shaft to get rid of the skipping until you can replace it.
It's not worth it to fix the axel, it is wise to replace the axels
by jacking up the car secure the car with jack stands, then remove the wheels, the big center nut of the axel and the lower bolts on the ball joint, then pry the lower control arm down and pull the hubb aside. Now u could remove the axel easily, if stuck take a hammer and tap it lightly, remove it, replace with the new but make sure both ends r lubed with grease.
You must remove the axle from the transmission in a straight out line from the case of the transmission in a quick and very hard snapping motion, a large heavy cast iron pipe wrench works well, but remember the axle can't be at an angle, it must be straight out within a few degrees.
ok what is going on is the cv axels are binding and need replaced and the steering needs to be serviced deffinatally dont drive to far find a reasonably priced shop close to fix i would but you r prob not near me