Hello, I have a 2003 Disco 110K. When shifting from park to reverse I here a noise and I can feel it in the shifter. The front drive shaft is a 2 years old and the rear drive shaft is original "i think". The rear has two grease fittings. What I did notice is the one of the grease fitting is VERY VERY hard to pump grease through. I filled them all up 3K miles ago and there was no issue. How do you know if you have a bad U joint? I did recently replace the front axle differential oil. I do not drive this car and noticed the noise today. My wife is saying it was happening for a few weeks and that is before I swapped the gear oil. I never touched the center differential and I think I should also swap that as well. What do you think? The transmission shifts fine. Maybe I am just being hyper sensitive.