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Look at your manual and then flip your truck over. You'll see these drive cups where the axle goes into. One side is for the transmission side and one side is for the differential side. On those drive cups there's grub screws that will come out if the they're not loctited or if there's play in the system. Each side will have a screw in the drive cup. I would start there and if they're both there then you need to check for play in the center driveline.
If the drive shaft to the rear is turning when it's running, it's either the locking pin or it's a problem inside the diff. Do you hear a clicking sound when it's running?