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Exact same symptoms as mine. From the rear, only at low speeds. It'll get worse, and when it decides to break, it'll leave you stranded (you won't be able to roll your car in neutral afterwards). I highly recommend you replace them. I had Subaru send me their rebuilt axles so I can save a little on the repair.
Did you lower your car a lot? I raised my car a little bit to avoid this issue.
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