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I had a very similar problem it ended up being my axle isolator bushings. You cold also have play in your steering rack mine caused almost identical symptoms. You may a a to adjust your steering rack
 
The axle isolator bushings are what mount the axle pumpkin to the frame. I have. It taken apart these transfer cases but I have done some work on my np205 from my old suburban tranfer cases in my experience are all that terrible to do
 
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