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...when accelerating from a stop or when the brake is first applied. I'm almost positive I've seen this addressed here but, for the life of me, I can't find the thread.

It may be that it's normal and I've never noticed it before, but I'm normally pretty aware of what's going on in the car.

Any ideas what this could be and how to remedy it?
 

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This is an FAQ, and the problem is usually attributed to a loose axle nut. Tightening the axle nuts to the specified torque normally fixes it. There is also an updated washer that is supposed to prevent it from happening again.
 
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