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Axle spline 'ping', is just that, a little slop when engaging the gears. I wouldn't replace them or attempt to repair the splines.
The repeated clunk at low speeds deserves 'some' attention. Not being able to hear, see, or drive your car allows only speculation. I know dealers are a popular 'rip-off', especially on this web site, but call and ask if you can have the car 'inspected' for any faults. Usually they charge an hour of labor, but they will give you a list of EVERYTHING that they would like to work on. That list can be ignored for the most part, but it will give you a sense of what needs to be done and how soon you or someone else can work on it. Kind of like a pre-purchase mechanical inspection.
They might even have a simple explanation for the 'clunk' and the ABS error.
A long time ago, I bought a used V70R which needed at lot of TLC. I had the dealer inspect the car and got a 2 page list of problems. One of which was a leaking steering rack. A second opinion from a good shop told me that the leak was a 'weep' and not to worry about it. It never leaked during the 10 years I had the car - I did change the fluid once.
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Keeping it running is better than buying new
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