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I am currently experiencing vibration upon acceleration in my 03 R53. It can be felt in the 20mph range and is much more intense when accelerating in the 50mph+ range.
I went to take a look a my drivers side CV joint...and this is what I discovered. I noticed wear inside of the CV housing (looks like some of the grease escaped the boot over time.) I can physically feel a slight indentation where I (assume) the bearing was metal-on-metal with the housing at some point. Note that one of the signs of wear is slightly more brown than the rest...this is the deepest groove. I believe the color change is from high heat.
Could this wear be the sign of my vibration when I accelerate? Has anyone seen this before? Regardless, I think I will replace this piece... I am guessing it just pops out from the transmission with a screwdriver?