You wouldn't want to pull the axles, but you may want to pull the front driveline and inspect it. It is the splines coming out of the transfer case into the front driveline that have been an issue on several vehicles.

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2007 X3 3.0si, 6 MT, Premium, White

Retired:
2008 535i, 6 MT, M Sport, Premium, Space Grey
2003 X5 3.0 Steptronic, Premium, Titanium Silver
2002 325xi 5 MT, Steel Grey
2004 Z4 3.0 Premium, Sport, SMG, Maldives Blue