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Look at your torque rods and be sure they are all good.
When and axle moves from a TR failure, the splines on the driveshaft can pull out and grind as you describe.
A simple tank using air over oi will work fine.
Just use air pressure to force the new oil into the oil galley of the engine.
Plan on adding the correct amount(do not overfill it).
Hope you don't mind, Larry.
http://www.youtube.com/watch?v=BNJUzLBY7ik&list=UUjbo0ON_0-t3pkLwKSGNAaQ
and http://www.youtube.com/watch?v=_BtenF3-qvY&index=4&list=UUjbo0ON_0-t3pkLwKSGNAaQ
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