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2002 Rendezvous - Groan while parking

all of a sudden my 02 Rendezvous, 117,000 miles started a loud groan from the back while turning tight into a parking space. Only a little when backing up while turning.

Straight driving is fine, except randomally the “AWD Disabled” light comes on.

Maybe TSB 06-04-114-001A MAY 06 Drivetrain - Moan/Groan Noise From Rear Differential relates, but I can not read it.

MOAN GROAN FROM RDM (REAR DRIVE MODULE) DURING PARKING LOT OR TURNING MANEUVERS. SIT BULLETIN 1400803. ( NHTSA ITEM NUMBER - 10005501 )