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Does the 2002 have a companion flange that bolts onto the axle flange with the large 12 mm bolts? Then I do believe the driveshafts are different.
I was told you could simply swap out the axle yoke but you would mess with the bearing preload so I wouldn't try that myself.
Not sure what year they went to the companion flange connections but I know on my current 2005 axle swappings into my 99 I will need to get the driveshaft redone to make it work.
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early 99 F350 4x4
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