Q: The rear end/drive train makes a clunk after I come to a complete stop and then start on 2000 GMC Sierra 1500

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I have a 4 wheel drive truck. Whenever I come to a stop and then begin to start again I hear a clunk coming from either the rear end or some part of the drive train. I have already had the universal joints changed on the driveshaft. The dealer says it is normal, but I have my doubts.
(1) Answer
I had a 2000 Sierra with the same issue. I ended up taking the driveshaft off and used high temp grease to lube the splines on the driveshaft yolk. This has taken care of the clunk i was hearing. I know there is a TSB for this issue, but can't remember the number off hand. I hope this helps man.