Lurching when reversing, after highway trips...?

[GI Joe]

Alright, so I spend a Lot of time on the open road.... Just me and my Cummins, burning up some two lane blacktop.

Recently I've put two and two together and have correlated a Lurching, or bucking when reversing after a long highway segment.
Some times it is violent enough that I try to find a spot that I can roll back into, or even worse just pull into a parking spot...

Once the truck cools a bit, it reverses just fine.

I'm guessing it's the rear end, but My only reason for that is its the Only part of the drivetrain that I haven't touched yet..
Details in Sig.... Currently at ~209k....

Thoughts, guidance, suggestions...?.. Thank you!

 

[CrewCabDiesel]

Had the same problem, turned out it just need a gear lube change. I suspect the friction modifier was fried and the limited slip was not slipping when needed. Changed lube with Amsoil 75w90 all was just fine. I also did find my rear shackle busing are also fried too problem making the problem worse.
Kyle

 

[GI Joe]

Interesting.... That's a rough condition for just weak lube......(?)...
Thank you for the tip!

I'll give it a shot, and report back for posterity!

 

[Prairie Dog]

You don't need friction modifier for the LSD diff in a third gen because there are no clutches. It wont hurt to put it in there but it serves no purpose.