Take it to the dealer and have them fix it. THis happend to me around the same milage. Basically it has to do with the axles and differential. They had to open the diffferential and have it lubricated and turn the axles 180 degrees. Install new codder pins and a few other hardware. BUT WOW! After this maintenance was done I felt what my car could do for the first time. It was more reponsive. Off the line it didnt feel like the VDC enganged as early. Check the nissan-techinfo.com under trans/axle clicking noise as well. Hope this helps.
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