If you feel a vibration that speeds up as you accelerate or a grinding noise at low speeds or turning, your driveshaft or CV's (constant velocity joints) may be the reason. A torn CV boot that allows dirt and dust inside the joint can easily cause CV failure.
A vibration, clunk, or whine from under the center or rear of the vehicle that increases with speed is likely to be caused by a failing u-joint or driveshaft bearing.
Driveshafts, on most rear-wheel-drive and four-wheel-drive vehicles, are very durable. Most late-model driveshafts are not serviceable and do not have any lubrication points. But, this does not mean that they can’t wear or even fail.
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