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slip yoke knock/clunk

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I wanted to start a new a new discussion concerning the slip yoke issue on the 3rd Gen Tacomas because of some things I have noticed. I have a 2017 Tacoma TRD Off Road 4x4. The issue with the slip yoke is a knock/clunk when slowing down for a stop sign or red light.
1. When in "D" and I pull up to a stop sign in a rather going fast manner and begin to apply the brakes to stop, I usually hear that thump/clunk. But if I pull up to a stop sign and apply the brakes slowly and slowly come to a stop...I do not usually hear that thump/clunk..
2. .Also, if I drive in "S 6" mode, and no matter how I pull up to a stop sign be it fast or slow, I do not hear the thump/clunk in that high gear......STRANGE.

Your thoughts moving forward are appreciated...thank you

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