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The diffs are meant to last but on older vehicles you can get condensation causing rust This can cause the bearings in the diffs to start to go.
However it could just be wheel bearings but I'd be surprised if it was only with four whhel drive engaged - I'd expect it on cornering in 2wd as well.
Certainly check that first replacing the diff can be expensive.
Also my defender is permanent four wheel drive not it's not necessarilly comparible
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