I've got a 2004 F150 that had minor rear end noises at around 8,000 miles. That was supposedly due to the clutches in the limited slip rear (groaning noise on slow turns). Had it in 3 times for that. I think they quieted that noise with more friction modifier being added to the rear.
Now, at 40,000 miles, the rear is sounding really bad. This is nothing like the original noise of the limited slip clutches. From 20 MPH all the way up to about 80, where it levels off. It is a very noticeable "smooth" grind that resonates right through the frame of the truck. Having given up on Ford now the warranty is up, I had another shop give it a listen and the guy said sounds like rear axle bearings. Bearings at 40,000????. Is there something else it could be? I'd like to go into this repair at least a little more informed than I am now. And I'm not happy about having to learn this much about Ford rear ends, especially the hard way!!