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i believe it happens when the gears are not lined up right, i dont think it hurts n e thing its just freag'n anoying...to get rid of it id imagine u just pay to get them reinstalled..right
It is caused by them not being installed properly and not being shimmed correctly. It will result in excess friction and could probably cause damage over time. Only way to fix it is completely would be to get them reinstalled correctly. Other than that, you may want to change the rear end fluid to the best one you can find.