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I have a friends 97 in here and it sounds like it jumps a spline when you load it up in low gear, definitely coming from the front drive. It's high miles and I am wondering if there is something in the T case that can slip. I have never been inside one of those.
We had a '98, hi-milage(over 150K on the odo),we used for our company. About 3 years ago our van had similar problems and the mechanic that did all the service work on our company vehicles told us it was the T-case after inspecting it, he'd seen similar problems in other Astros/Safaris. He got a used one out of the boneyard. About $600 later we got the van back and as far as I know it is still in use. FWIW
I had a 96, GREAT vehicle! At around 150k mine started doing that. The chain in the transfer case is jumping (stretched/worn). You can get a chain for about $65.00 (do a net search for Northern auto parts), and a gasket set I think was another $45.00 If you have mechanical skills, you can do it yourself in a weekend.