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Check the rear driveshaft u-joints. Most likely the rear u-joint at the differential is seized/seizing. May here a rotational squeaking at low speeds. If you want to check it yourself. Remove the rear driveshaft and move the u-joint in each direction and check for tightness. Do so with both ends. Let me know how it works out for ya!
If the squeaking changes with the speed of the truck you need to get the U joints check. At least 1 is dry of grease and will have to be replaced. Hope this helps.
Loose or damaged Wheel-Bearing causing other parts to rub together, like the brake components or your wheels are too big or shocks weak, or exhaust hanging and are rubbing against something. Perhaps oil is leaking from your rear axle housing dut to bad seals (check inner of wheels) and around axle housing - remove plug and check that your finger can reach in and touch it. Could be a sign of rear end failure or simply the backing plates on the brakes behind the rotors and the drums (steel disk) sometimes rust on the drums can grind against the backing plates if they are weak or warped (clean this area).
Throughout my experience with Toyota's I have found that several times the hubcaps have made some weird noises. Try removing your hubcaps and driving your vehicle. If the noise still persists please let me know and I can ask u some questions and try to help you with your problem.
I have a 2002 Sierra Denali, and when it was only two years old, I began having the same issue that it sounds like you guys are describing. Luckily, I had opted for the extended warranty, because it turns out that the lube "specialists" at Wally-World had topped off my rear differential with standard rear-end oil. I turns out that the Denali's differential has a special "clutch pack", as they called it, that requires a secial, senthetic (aka: very expensive) lubricant. The **** WalMart added contaminated the diffy's oil, and caused the clutch pack to fail.... basically it started locking the rear axles, and not allowing one side to rotate at a different speed than the other, as is required in turning.
Well, it took the dealer nearly a month to acquire the neccesary parts for the repair, and as for the cost? Only a minimal deductible, and the dealer assured me that the $1800 extended warranty had paid for itself.... nearly twice!!!
WORDS OF ADVICE: If you own a Denali with AWS, Always instruct the lube guys not to touch your rear differntial! And have your certified GM mechanic check it at recommended intervals.
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