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Can you get this to occur continuous or is it just brief like under 5 seconds. If it is brief then it may be a slipping torque converter clutch.
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Thanks for the update. It should not be the splines on the axle shaft where they lock into the differential in the transaxle. There is not enough movement there to wear them out and if its were sloppy it would be leaking at the output shaft seal. It will more than likely be a CV joint that is worn and flopping under certain loads causing this.