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might want to look into the TSBs of your model year. I know the 04 year had a problem with the rear end.
can't find the thread it was in but might be worth a gander to see if it fits what you are experiencing.
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2002 F150 FX4. Black two tone. Extended cab.
-SI/DO flowmaster catback
-AFE cold air
-EDGE Attitude. Level 2 Custom.
-Headmaster Shorties. One cat for each side.
-305/70R16 ProComp Xterrains-16" American Racing rims.
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