Rear end clunk Noise

[AR97Pathfinder]

On my 97 Pathfinder, I get a clunking noise when pulling off from a stop. If I pull off very gently I do not hear it. Its a bit louder when you pull off on a rougher road.

 

I changed all rear links and all arms, along with panhard rod. The differential fluid was also changed. 

 

I went under and checked the driveshaft, there is no play in the differential or the u joint by the differential. However, I see some play where it goes into the transmission, which I believe is the yoke.

 

Would I be able to remove the driveshaft and grease the yoke splines inside? Ive heard about this on other vehicles. 

 

There isn't a yoke replacement for the 97 pathfinder. You'll have to change the entire driveshaft for that.