My brother's 2001 2.5RS has a bed rear wheel bearing that he still has not fixed yet. It doesn't sound the same. This OBS sounds like it's missing gear teeth to me. I have not driven it much, but if I remember right, he said the wheel seem to jump. Like they have power, then none, then power, then none. His mechanic told him he needed a new differential and some kind of clutch plate kit for the differential. I told him its too old to worry about replacing internal parts in the Diff, just swap out the diff with a used one and call it good. I figured that the rear end could not be that much work, we took one out of my GL-10 a long time ago to replace the gas tank.
By the way, how do I determine the gear ratio on the Diff?