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I don't think you're going to see a check engine light for this type problem. You need to get under the truck and start doing a visual inspection. I'd start with the u-joints, front and rear (and at the carrier bearing if you have a two-piece drive shaft). Try rotating the drive shaft in both directions. There should be no play at the u-joints, and very little lash in the shaft itself. If you have excessive lash, you may have a problem with the differential. Then check motor and transmission mounts. Since the noise generally only happens when you unload the drivetrain, suspension components are less likely to be making the noise, but check your rear spring shackles and U bolts to the rear end. Check the stabilizer bar links (front and rear), ball joints, and control arm bushings. It may help to have the truck on jack stands while checking the suspension components.

Good luck. It's just going to take some 'get dirty' poking around to find the culprit here, I'm afraid.
 
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