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You can feel it between the time you take your foot from the Barack to the gas pedal before even start to roll. Mine did something similar under warranty ford replaced the drive shaft. I read a thread here of some one with the same problem putting a grease fitting some how on the center bearing and it helped his problem.
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2004 F250 6.0 PSD every day work truck 
Jotto desk / laptop / printer for giving estimates
3000 watt inverter keeps drill batteries charged
4" tubo back MBRP cool duals
CFM+ intake elbow / Airaid cold air intake
SCT X3 from innovative diesel
Coolant Filter / Amsoil by-pass system
ATS Intercooler
Fluidampr / 200 amp alternator
ARP head bolts / Black onyx head gaskets
185cc Injectors 70hp+ / stock turbo
stage 1 fuel lines / cross over with fixed orifice
58 volt FIMC mod from swamps diesel
Airdog 2 with in tank fuel module upgrade Mag-Hytec Diff. and trans. covers
Aluminum degas tank
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