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Depending on the noise, if it is in the transmisison, it would need to be pulled out and taken apart to see which gear the noise is coming from.
If you think it is a u-joint, replace it. They are cheap. Usually with ah u-joint, you get vibration and it doesn't matter if there is a load or not. If it only does it with a load, then it is most likely gearing in the transmission.
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