The rear axle assembly is a hypoid, semi-floating type, the outer rear wheel of turns more fast as compared to the inner wheel when it is in cornering, with axleshafts splined to the side gears of differential. Some models feature an electronic locking rear differential, which operates in two modes: normal and locked and the latter engages when when there is mud or deep snow causing one wheel to spin. On the 4WD models, there will be a fully floating front axle assembly, best described as a differential and drive axles contain constant velocity joints. In diagnosing an axle problem, it is mandatory to look for other possible origins of noise since road noise, tire noise, and engine/transmission noises could be mistaken for axle noise. Hearing road noise does not vary with the power of the vehicle while tire noise is due to the state of the tires. Another method of solving this problem is to identify the main components that make the engine and the gearbox noisy; the tachometer is used to track the engine speed, and further tests are conducted with the car in Neutral. Changing the differential demands specific tools, thus, it may not be changed by the owner of the vehicle; details of removing the axels haft, replacing the oil seal, and replacing the bearings are provided, while other complicated procedures should be done by a mechanic.