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u-joint needed for 2003 automatic

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ABS and brake light comes on

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Looks like the driveshaft rear u-joint is bad and would like to replace it this weekend. Although i've done some research on this site, i still am uncertain as to which joint to go with. I just want to use a press/hammer and not have to worry with doing any filing, grinding, etc. to get the new joint. Greasable or not, can someone recommend a ujoint (part# and make)? TIA
 
Thanks Andres. Bought a pair of precision 330A from O'reilly's this morning and had a local shop install. No more vibration! Shop charged $40, joints were $22 each (greaseable and lifetime).
 
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