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Q: I was hearing this clancking noise when I stop, turn to right, turn wheel slowly on 2004 Volvo XC90

it also slips when I try to take off a little faster, I hate to think that its the transmission but I've never driven all wheel drive and can't tell what if any problem is going on, perhaps I can't drive?
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Trans. fluid level check? I would speculate that your transmission might be crying for help/service. Some of the XC90 suffer from premature failure partly because of some drive axle cross contamination w/ ATF. I would suggest to take it to some that has a factory level diagnostics tool. To rule out a possible electrical malfunction and maybe they look over the vehicle before it becomes inop.
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