Did you check front diff and rear diff fluid levels and for cleanliness? Noises travel around in these rigs. But now I am leaning toward a tire noise but you can rotate and see if noise follows.
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What did the Cv axles look like? We’re the boots intact?Put it on jacks and both front wheels spin normally with no weird noises
Tires maybe?
I’m guessing bearings/hubs are ok because no noises up on jacks, correct me if I’m wrong on this still trying to figure it out
Mechanic's stethoscope, 12 volt test light and DVOM are my most used tools, besides my eyes.I agree with OR VietVet about checking the condition of the front diff fluid. If you've never changed it, it's a cheap thing to do and then you'll get a look at what comes out. The older generation of yukons with all wheel drive used to develop a rhythmic moaning sound and it was usually front diff bearings that were wearing.
I know you jacked it up and spun the tires,but I would advise getting all 4 tires off the ground SAFELY. At that point you can let the truck idle in drive in 2wd and 4wd and see if you notice any noise. A mechanics stethoscope comes in handy as well to listen to the hubs with wheels spinning from the back side. Again do all of the SAFELY. I've done this numerous time to diagnose wheel bearing and it works good most of the time.