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most likely a wheel speed sensor(abs sensor)has gone bad or it is not making a proper connection. you need to take it to a repair shop that has the proper diagnostic tool for it so that they can tell you which one of the four sensors is defective. hope this helps
the jerking and noise you are experiencing is the drive chain and bearings in the transfer case also you may want to check the end play in both front and rear pinion bearings and yokes
do not replace only the bearing. replace hub assembly. remove rim/tire , remove caliper, mounting plate, rotor. . un bolt hub assembly, unplug abs. remove front axle nut if 4x4. you may need to rent the axle nut remove kit and hub puller. pull out hub. drive axle reward out of hub. install new part. do not torque hub over 90lbs. check with parts sell for spec
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