that is definately a bad u joint. eventually it will sound like the jeep is about to fall apart and you'll get really bad vibes out of it when its about to completely go. to find out which one it is, put the jeep in neutral, and jack up one front tire, and one rear tire. then chock the two tires that are still on the ground and crawl under it. grab the driveshaft and rotate it, shake it back and forth and whatever way you can think. if its making noise already, you'll be able to tell which one pretty easy. to replace it, i recommend renting a ujoint removal tool from auto zone if you've never done it before. its fairly easy. search around for a good write up
2001 Wrangler Sport 4.0, 5 speed, 30/35 axles, 3.73's, ZJ springs, 1"BB, 31" Futura M/Ts
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