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2002 GMC Sierra 3500 Questions

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I had the truck in the shop for front end repair ball joints and tie rods .when I pickup my truck it ran fine and I fueled up before going home. Then the next day it started and ran find two miles down the road there was a noise and smoke and knocking .
The noise roars and vibrates. 30-35 mph is top speed just happened in a 20 mile trip. It was so bad had to park
do you have to pull axel
I have a duramax 6.6 and once I drive for about a mile the ABS light pops on and the truck down shifts, bringing my speed down to about 55 mph. I have been told something about slack in the transfer case and then he change to something else not sure of this guy.
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