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gmcowners.com > ... > GMC Sierra Forum Dec 2, 2010 - Steering shaft clunk fix in about 5 min GMC Sierra Forum. ... Sounds like the infamous "steering clunk" issue? ... An off center clock spring can be damaged when turning the steering wheel. If so the ... 2003-2006 HUMMER H2
If you let go of steering wheel and step on brakes does the wheel vibrate?
I'd say its either warped rotors, power steering malfunction, or possible wheel bearing, although if wheel bearing you should feel/hear a hum which would get louder depending on which way you turn the vehicle.
The possibilities are depending on whether you hear the sound in the front or back of the car: You have a broken brake pad in the front or a broken brake shoe in the back; there is a bad wheel bearing that needs to be replaced, there is a flat spot on one of your tires.
Possibly a bad strut alowing the tire to bounce that is only happening under certain driving conditions. May also have the tires checked, one may have a fat spot or knot on it that worsens as the tire gets warmer after driving it for a while. Hope this inforamtion is useful to you. Good Luck!
Most likely a motor mount causing the "thunk". This will only get worse until its taken care of. The rubber bushing around the mount itself wears with age. Really couldn't tell you about the check steering assist apart from checking the power steering fluid level. Good luck on your problem.
My first guess would be the front u-joint on the drive shaft. Try twisting the u-joint to see if there is any play, which there shouldn't be. If the u-joint is OK, have the transmission checked out at a reputable shop. There could be a problem with the torque converter, the valve body, or the bands. You didn't say whether this was a 4 wheel drive or not, but I doubt that the problem is with the transfer case. Let me know what you find.