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Popping noise from rear-end when engaging gears (manual drive) 200 1984

Hello all. I am new today to the forum. I recently bought a 1984 240 Diesel for the purposes of getting me to and from the office. I have no mechanical experience. The car has 213,000 miles. It appears to run well except for a 'popping/grinding' noise that eminates from the rear-end when one engages the transmission. This occurs in all four (+over-drive which functions intermittently) gears. There is also a slight 'give' before the car gets under-way.
I've purchased the Bently manual and am prepared to do minor work (as I have a limited number of tools). I'd prefer to have a general idea about what could be causing the problem before taking it to the local garage.
Would anyone be able to provide insight into the possible cause, please?
I've read the threads discussing the U-joints and driveshaft carrier bearings. I took the car to a quick-lube to have them change the oil and check the differential grease. They supposedly changed both. But I suspect they had difficulties.
Thanks.






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