Knock at Low Speeds
WARNING: This page does not describe the selected car, but rather 9 other vehicles, including the 2002 GMC Yukon XL, 2002 GMC Yukon, 2002 GMC Sierra, 2002 Chevrolet Tahoe, and 2002 Chevrolet Suburban. However, it is still accessible from the selected car via links, so may be relevant.
A low speed knock can be caused by a differential case side gear bore that has worn oversize. Inspect the side gears and the differential case assembly and replace the components as necessary.